  The paper presents an idealized warehouse environment where human and robots
are both present and need to communicate to avoid mutual collisions. The
warehouse shelves are modelled as metallic (PEC) parallelepipeds, which is the
largest obstacle of practical interest, while for communication an UWB Gaussian
signal at 3.994 GHz and 468 MHz width is used. The signal propagation is
analyzed using ray tracing software, with the goal to determine the range of
communication and the optimum antenna configurations. Several scenarios have
been analyzed and discussed. It is found that the major influence on the
communication range is exhibited by type of polarization of antennas placed on
human and robot, while the optimum range is obtained when all the antennas are
vertically polarized.

Signal Processing;Systems and Control;Systems and Control