Rapid prediction of network quality in mobile robots

Abstract

Mobile robots rely on wireless networks for sharing sensor data from remote missions. The robot’s spatial network quality will vary considerably across a given mission environment and network access point (AP) location, which are often unknown apriori. Therefore, predicting these spatial variations becomes essential and challenging, especially in dynamic and unstructured environments. To address this challenge, we propose an online algorithm to predict wireless connection quality measured through the well-exploited Radio Signal Strength (RSS) metric in the future positions along a mobile robot’s trajectory. We assume no knowledge of the environment or AP positions other than robot odometry and RSS measurements at the previous trajectory points. We propose a discrete Kalman filter-based solution considering path loss and shadowing effects. The algorithm is evaluated with unique real-world datasets in indoor, outdoor, and underground data showing prediction accuracy of up to 96%, revealing significant performance improvements over conventional approaches, including Gaussian Processes Regression. Having such accurate predictions will help the robot plan its trajectory and task operations in a communication-aware manner ensuring mission success. Further, we extensively analyze the approach regarding the impacts of localization error, source location, mobility, antenna type, and connection failures on prediction accuracy, providing novel perspectives and observations for performance evaluation.