Departmental Papers (CIS)

Date of this Version


Document Type

Journal Article


Smith, J.; Olivieri, M.; Lackpour, A.; Hinnerschitz, N., "RF-mobility gain: concept, measurement campaign, and exploitation - [wireless communications in networked robotics]," Wireless Communications, IEEE , vol.16, no.1, pp.38-44, February 2009 URL:

Copyright 2009 IEEE. Reprinted from IEEE Wireless Communications , vol.16, no.1, pp.38-44, February 2009.

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Self-directed movement of radio devices can enable large amounts of power gain since the sources of fluctuations in received signal power due to multipath-induced small-scale fading have highly localized effects. We call the gain achieved by finding a better location the mobility gain. University of Pennsylvania Experimental data for indoor as well as outdoor measurement studies are used to illustrate the potential of this RF-Mobility Gain concept over a wide range of frequencies. An analysis of the RF data reveals that a small amount of energy spent on searching for a better location can pay large dividends in long-term power expenditures for RF transmission. Challenges in building such a system for peer-to-peer links and network applications are discussed along with potential coordination algorithms.



Date Posted: 21 May 2009

This document has been peer reviewed.