Delay constrained utility maximization in Cyber Physical System with mobile robotic networks

In this work, we approach the problem of maximization of delay constraint utility function for a group of robots using a Cyber-Physical System (CPS) framework. For any task involving coordination of robots, a reliable communication link is required to be established. The maintenance of this link reliability highly depends on trajectories of individual robots. This needs a hybrid approach to be adopted, in which mobility and routing control are taken care of simultaneously. In this paper, a hybrid approach has been proposed based on bidirectional optimization i.e. network utility maximization and energy minimization in the presence of delay constraint. Network Utility function allocates network resources to the robots based on physical constraints involved. The result of this optimization problem would empower the hybrid controller to control both robot position as well as communication link strength.