Robot Trajectory Planning With QoS Constrained IRS-assisted Millimeter-Wave Communications

• Published in: arXiv.org
• Main Authors: Tatino, Cristian, Pappas, Nikolaos, Yuan, Di
• Format: Paper
• Language: English
• Published: Ithaca Cornell University Library, arXiv.org 05.02.2021
• Subjects: Algorithms; Beamforming; Computational geometry; Constraints; Convexity; Energy consumption; Industrial applications; Kuhn-Tucker method; Millimeter waves; Optimization; Quality of service; Robots; Trajectory optimization; Trajectory planning; Wireless communications
• ISSN: 2331-8422

This paper considers the joint optimization of trajectory and beamforming of a wirelessly connected robot using intelligent reflective surface (IRS)-assisted millimeter-wave (mm-wave) communications. The goal is to minimize the motion energy consumption subject to time and communication quality of service (QoS) constraints. This is a fundamental problem for industry 4.0, where robots may have to maximize their battery autonomy and communication efficiency. In such scenarios, IRSs and mm-waves can dramatically increase the spectrum efficiency of wireless communications providing high data rates and reliability for new industrial applications. We present a solution to the optimization problem that exploits mm-wave channel characteristics to decouple beamforming and trajectory optimizations. Then, the latter is solved by a successive-convex optimization (SCO) algorithm. The algorithm takes into account the obstacles' positions and a radio map and provides solutions that avoid collisions and satisfy the QoS constraint. Moreover, we prove that the algorithm converges to a solution satisfying the Karush-Kuhn-Tucker (KKT) conditions.