Communication-aware navigation functions for cooperative target tracking

In this paper we consider a team of mobile nodes that are in charge of cooperative target tracking. We propose communication-aware navigation functions that allow the nodes to perform their task while maintaining their connectivity to a fixed base station and avoiding obstacles. More specifically, we show how to incorporate measures of link qualities in the navigation functions. We consider both centralized and decentralized scenarios. We furthermore explore the impact of stochastic channels and channel estimation error on the overall performance.