A Rapid Recognition of Impassable Terrain for Mobile Robots with Low Cost Range Finder Based on Hypotheses Testing Theory

  • Yang Gao Chang An University
  • Xueyi Wu Chang An University
  • Yu Liu Chang An University
  • Jian Ming Li Chang An University
  • Jia Hao Liu Chang An University


We propose a game theoretic non-cooperative algorithm to optimize the induced outage probability in an uplink cellular interference limited wireless Rayleigh and Nakagami fading channels. We achieve this target by maximizing the certainty equivalent margin (CEM). We derive a closed-form formula of the outage probability in Nakagami flat-fading channels, then we show that minimizing the induced outage fading probability for both Rayleigh and Nakagami channels is equivalent to maxi- mizing CEM. We present a non-cooperative power control algorithm using the game theory framework. Through this non-cooperative game, we argue that the best de- cision in such an environment is for all users to transmit at the minimum power in their corresponding strategy profiles. This finding considerably simplifies the imple- mentation of the proposed game.

Author Biographies

Yang Gao, Chang An University
School of Automobile, Associate Professor
Xueyi Wu, Chang An University
School of Automobile, Master degree student
Yu Liu, Chang An University
School of Automobile, Master degree student
Jian Ming Li, Chang An University
School of Automobile, Master degree student
Jia Hao Liu, Chang An University
School of Automobile, Master degree student


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How to Cite
GAO, Yang et al. A Rapid Recognition of Impassable Terrain for Mobile Robots with Low Cost Range Finder Based on Hypotheses Testing Theory. INTERNATIONAL JOURNAL OF COMPUTERS COMMUNICATIONS & CONTROL, [S.l.], v. 12, n. 6, p. 813-823, dec. 2017. ISSN 1841-9844. Available at: <http://univagora.ro/jour/index.php/ijccc/article/view/2981>. Date accessed: 05 july 2020. doi: https://doi.org/10.15837/ijccc.2017.6.2981.


Impassable terrain, range finder, slope, hypothesis testing.