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Oh, Hyondong
Autonomous Systems Laboratory
Research Interests
  • Autonomy and decision making for unmanned vehicles
  • Cooperative control and path planning for unmanned vehicles
  • Nonlinear guidance and control
  • Estimation and sensor/information fusion
  • Vision-based navigation and control
  • Bio-inspired self-organising multi-vehicle system

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Optimal communication relay positioning in mobile multi-node networks

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Title
Optimal communication relay positioning in mobile multi-node networks
Author
Kim, JongyunLadosz, PawelOh, Hyondong
Issue Date
2020-07
Publisher
ELSEVIER
Citation
ROBOTICS AND AUTONOMOUS SYSTEMS, v.129, pp.103517
Abstract
This paper presents an optimal communication relay positioning method to improve the communication performance of mobile multi-node networks in complex environments. The communication channel quality prediction between nodes is of primary concern to find the optimal relay node positions while considering the uncertain and dynamic nature of environments. To this end, the learning-based or the distance model-based method is used for the channel prediction depending on the mobility of the communication nodes of interest. The global message connectivity and the worst case connectivity are introduced as the communication performance metric of networked agents. The optimal relay positions are found by maximizing the performance with respect to the relay positions through a heuristic optimization technique. This algorithm outperforms a recently-developed relay positioning algorithm in the simulations. The indoor experiments are conducted to show that the proposed approach using mobile relays improves the communication performance of the complex network significantly with the accurate channel prediction. (C) 2020 Elsevier B.V. All rights reserved.
URI
https://scholarworks.unist.ac.kr/handle/201301/32977
URL
https://www.sciencedirect.com/science/article/pii/S0921889019309145?via%3Dihub
DOI
10.1016/j.robot.2020.103517
ISSN
0921-8890
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