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This paper considers the joint optimization of trajectory and beamforming ofa wirelessly connected robot using intelligent reflective surface(IRS)-assisted millimeter-wave (mm-wave) communications. The goal is tominimize the motion energy consumption subject to time and communicationquality of service (QoS) constraints. This is a fundamental problem forindustry 4.0, where robots may have to maximize their battery autonomy andcommunication efficiency. In such scenarios, IRSs and mm-waves can dramaticallyincrease the spectrum efficiency of wireless communications providing high datarates and reliability for new industrial applications. We present a solution tothe optimization problem that exploits mm-wave channel characteristics todecouple beamforming and trajectory optimizations. Then, the latter is solvedby a successive-convex optimization (SCO) algorithm. The algorithm takes intoaccount the obstacles' positions and a radio map and provides solutions thatavoid collisions and satisfy the QoS constraint. Moreover, we prove that thealgorithm converges to a solution satisfying the Karush-Kuhn-Tucker (KKT)conditions.

Robot Trajectory Planning With QoS Constrained IRS-assisted Millimeter-Wave Communications