The goal of this overview paper is to serve as a reference for researchers that are interested in the realistic modeling of wireless\r\nchannels for the purpose of analysis and optimization of networked robotic systems. By utilizing the knowledge available in\r\nthe wireless communication literature, we first summarize a probabilistic framework for the characterization of the underlying\r\nmultiscale dynamics of a wireless link. We furthermore confirm this framework with our robotic testbed, by making an extensive\r\nnumber of channel measurements. To show the usefulness of this framework for networked robotic applications, we then\r\ndiscuss a few recent examples where this probabilistic channel characterization has been utilized for the theoretical analysis\r\nand communication-aware design of networked robotic systems. Finally, we show how to develop a realistic yet simple channel\r\nsimulator, which can be used to verify cooperative robotic operations in the presence of realistic communication links.
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