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Proceedings Paper

Control of an indoor autonomous mobile communications relay via antenna diversity
Author(s): Brian Griffin; Rafael Fierro; Ivana Palunko
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Paper Abstract

Presented here is a motion planning scheme for enabling a quadrotor to serve as an autonomous communications relay in indoor/GPS-denied environments. Using antenna selection diversity, the quadrotor is able to optimize its location in the communication chain so as to maximize the link throughput. Measurements of the communications field drive a gradient descent algorithm that moves the quadrotor to an optimal location while avoiding obstacles, all without the use of positioning data.

Paper Details

Date Published: 8 May 2010
PDF: 13 pages
Proc. SPIE 7692, Unmanned Systems Technology XII, 76920V (8 May 2010); doi: 10.1117/12.849986
Show Author Affiliations
Brian Griffin, The Univ. of New Mexico (United States)
Rafael Fierro, The Univ. of New Mexico (United States)
Ivana Palunko, The Univ. of New Mexico (United States)


Published in SPIE Proceedings Vol. 7692:
Unmanned Systems Technology XII
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)

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