A communication model to decouple the path planning and connectivity optimization and support cooperative sensing

Chunbo Luo*, Sally I. McClean, Gerard Parr, Qi Wang, Xinheng Wang, Christos Grecos

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

6 Citations (Scopus)


When multiple mobile robots (e.g., robotic equipment and unmanned aerial vehicles (UAVs)) are deployed to work cooperatively, it is usually difficult to jointly optimize the algorithms involving the following two aspects: finding optimal paths and maintaining reliable network connectivity. This is due to the fact that both these objectives require the manipulation of sensors' physical locations. We introduce a new relay-assisted communication model to decouple these two aspects so that each one can be optimized independently. However, using additional relay nodes is at the expense of an increased number of transmissions and reduced spectrum efficiency. Theoretical results based on mutual information and average data rate of the model reveal that such drawbacks can be compensated if the sensor nodes are carefully arranged into groups. Based on these results, we further propose a pairing strategy to maximize the spectrum efficiency gain. Simulation experiments have confirmed the performance of this strategy in terms of improved efficiency. We provide a simple example to demonstrate the application of this model in cooperative sensing scenarios where multiple UAVs are deployed to explore an unknown area.

Original languageEnglish
Article number6736065
Pages (from-to)3985-3997
Number of pages13
JournalIEEE Transactions on Vehicular Technology
Issue number8
Publication statusPublished - 1 Oct 2014
Externally publishedYes


  • Connectivity
  • cooperative sensing
  • optimization
  • path planning
  • sensor networks
  • unmanned aerial vehicle (UAV)
  • wireless communication

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