Seifaei Z, Lübke M, Franchi N (2025)
Publication Language: English
Publication Type: Conference contribution, Conference Contribution
Publication year: 2025
Pages Range: 6
Conference Proceedings Title: EW24
Event location: Brno, Czech Republic
This paper investigates the joint design of communications and control systems for robots collaborating using Device to-Device connection. Factors like noise and interference in wireless channels can lead to data packet errors, potentially failing in task execution, and robot positioning. This paper addresses these challenges by proposing an outage probability model tailored explicitly for robotic engineers. This model empowers robots as receivers to decide about utilizing the received data. By analyzing the communications channel quality through the outage probability model, the receiver can assess the likelihood of errors and determine whether the data is reliable enough for the task. The model leverages Physical Layer Abstraction models for efficient simulations, and we demonstrate its application through a case study of two drones using a leader-follower approach. By tuning the model and selecting an optimal transmitting time, we minimize locational error at the receiver, crossing a balance between communications overhead and data reliability for improved task performance. As a result of these evaluations, an outage probability model was developed, which can be utilized at the receiver to perform reliable data transmission during the same leader-follower scenario.
APA:
Seifaei, Z., Lübke, M., & Franchi, N. (2025). Predictive Algorithms for Communications-Control Co-Design in Multi-Robot Systems: Demonstrated with Two Drones in a Leader-Follower Setup. In EW24 (pp. 6). Brno, Czech Republic.
MLA:
Seifaei, Zahra, Maximilian Lübke, and Norman Franchi. "Predictive Algorithms for Communications-Control Co-Design in Multi-Robot Systems: Demonstrated with Two Drones in a Leader-Follower Setup." Proceedings of the European Wireless, Brno, Czech Republic 2025. 6.
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