Robot Navigation in Radio Beam Space

摘要

The emerging millimeter-wave (mmWave) networking technology promises to unleash a new wave of multi-Gbps wireless applications. However, due to high directionality of the mmWave radios, maintaining stable link connection remains an open problem. Users' slight orientation change, coupled with motion and blockage, can easily disconnect the link. In this paper, we propose miDroid, a robotic mmWave relay that optimizes network coverage through wireless sensing and autonomous motion/rotation planning. The robot relay automatically constructs the geometry/reflectivity of the environment, by estimating the geometries of all signal paths. It then navigates itself along an optimal moving trajectory, and ensures continuous connectivity for the client despite environment/human dynamics. We have prototyped miDroid on a programmable robot carrying a commodity 60 GHz radio. Our field trials demonstrate that miDroid can achieve nearly full coverage in dynamic environment, even with constrained speed and mobility region.