RCAMP: A resilient communication-aware motion planner for mobile robots with autonomous repair of wireless connectivity

@article{Caccamo2017RCAMPAR,
  title={RCAMP: A resilient communication-aware motion planner for mobile robots with autonomous repair of wireless connectivity},
  author={Sergio Caccamo and Ramviyas Parasuraman and Luigi Freda and Mario Gianni and Petter {\"O}gren},
  journal={2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2017},
  pages={2010-2017}
}
Mobile robots, be it autonomous or teleoperated, require stable communication with the base station to exchange valuable information. Given the stochastic elements in radio signal propagation, such as shadowing and fading, and the possibilities of unpredictable events or hardware failures, communication loss often presents a significant mission risk, both in terms of probability and impact, especially in Urban Search and Rescue (USAR) operations. Depending on the circumstances, disconnected… 

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