Literature Database Entry

gordon2026communication-aware

Daniel Gordon, Mohammad Bariq Khan, Tommaso Zugno, Wu Yiqun, Mate Boban, Xueli An and Falko Dressler, "Communication-aware Robot Motion Planning via Online Estimation of Radio Maps," Proceedings of 45th IEEE International Conference on Computer Communications (INFOCOM 2026), Networked Robotics and Communication Systems (NetRobiCS 2026), Tokyo, Japan, May 2026. (to appear)

Abstract

Fast and reliable communication links are of vital importance for the successful operation of many robot systems. In situations where wired or local wireless communications are infeasible, such as robots operating in extremely remote conditions or in areas with limited communications infrastructure, mobile communication networks can provide a solution to share sensing data or provide motion plans over the network from a remote base station. However, typically robot motion planners do not consider the impact of network dynamics when performing robotic motion plans, and thus robots can easily enter areas of low signal quality, compromising overall performance. In this work, we address the co-simulation of networked robotic systems by directly integrating ray-tracing–based radio map estimation with robot motion planning algorithms. We present a framework for communication-aware motion planning that seamlessly incorporates wireless network dynamics into robot navigation. In particular, our approach converts radio map estimates into service-specific risk maps, which capture the likelihood of QoS violations along potential trajectories. By fusing uplink and downlink metrics into an end-to-end service-aware risk estimate, our method enables robots to proactively avoid regions of low communication quality. We evaluate the framework in simulation, showing that trajectories planned using QoS-to-risk maps yields 1.5-2x improvement in communication performance compared to shortest-path baselines.

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Daniel Gordon
Mohammad Bariq Khan
Tommaso Zugno
Wu Yiqun
Mate Boban
Xueli An
Falko Dressler

BibTeX reference

@inproceedings{gordon2026communication-aware,
    author = {Gordon, Daniel and Khan, Mohammad Bariq and Zugno, Tommaso and Yiqun, Wu and Boban, Mate and An, Xueli and Dressler, Falko},
    note = {to appear},
    title = {{Communication-aware Robot Motion Planning via Online Estimation of Radio Maps}},
    publisher = {IEEE},
    address = {Tokyo, Japan},
    booktitle = {45th IEEE International Conference on Computer Communications (INFOCOM 2026), Networked Robotics and Communication Systems (NetRobiCS 2026)},
    month = {5},
    year = {2026},
   }
   
   

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Last modified: 2026-04-27