Mobile robots, that wish to communicate wirelessly, often suffer from fading channels. They need to devise an energy efficient strategy to search for a high channel gain position in a near vicinity from which to begin communications. Such a strategy has recently been introduced through the Mobility Diversity with Multi-Threshold Algorithm (MDMTA). In this paper, we establish the theoretical framework for a generalized version of the MDMTA. This allows improved wireless communications in fading channels for mobile robots via intelligent robotic motion with low mechanical energy expenditure.
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