On the Performance of Multi-Robot Wireless-based Networks

Abstract

The performance of the multi-robot wireless-based networks is investigated in this paper. Particularly, we derive the outage probability (OP) and potential throughput (PT) of the worst terminal in the closed-form expressions under two scenarios, with and without direct transmission from the centre robot to all terminal robots. The considered system is complicated since it involves many random variables (RVs) and they are correlated owing to the common link from the central robot to the relay one. To overcome such correlations, our approach is to first derive the performance of the considered metric condition on the correlated link, we then take the average over the common link. Numerical results based on the Monte-Carlo method are given to verify the accuracy of the derived framework as well as to identify the behaviors of two metrics with respect to some key parameters such as the transmit power at both central and immediate robots.

Keywords

• multi-robot networks
• outage probability
• selection combining
• performance analysis
• potential throughput