# Multi-Robot Association-Path Planning in Millimeter-Wave Industrial Scenarios

arXiv: https://arxiv.org/abs/2003.09662 · HTML: https://mlsanity.com/paper/2003.09662/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 21 Mar 2020.

## Built on by (most cited first, 1 of 1)

- [Intelligent Trajectory Design for RIS-NOMA aided Multi-robot Communications](https://mlsanity.com/paper/2205.01647/) (2022)

## Abstract (arXiv)

The massive exploitation of robots for industry 4.0 needs advanced wireless solutions that replace less flexible and more costly wired networks. In this regard, millimeter-waves (mm-waves) can provide high data rates, but they are characterized by a spotty coverage requiring dense radio deployments. In such scenarios, coverage holes and numerous handovers may decrease the communication throughput and reliability. In contrast to conventional multi-robot path planning (MPP), we define a type of multi-robot association-path planning (MAPP) problems aiming to jointly optimize the robots' paths and the robots-access points (APs) associations. In MAPP, we focus on minimizing the path lengths as well as the number of handovers while sustaining connectivity. We propose an algorithm that can solve MAPP in polynomial time and it is able to numerically approach the global optimum. We show that the proposed solution is able to guarantee network connectivity and to dramatically reduce the number of handovers in comparison to minimizing only the path lengths.