  The emerging beyond 5G and envisioned 6G wireless networks are considered as
key enablers in supporting a diversified set of applications for industrial
mobile robots (MRs). The scenario under investigation in this paper relates to
mobile robots that autonomously roam in an industrial floor and perform a
variety of tasks at different locations whilst utilizing high directivity
beamformers in mmWave small cells. In such scenarios, the potential close
proximity of mobile robots connected to different base stations, may cause
excessive levels of interference having as a net result a decrease in the
overall achievable data rate in the network. To resolve this issue, a novel
mixed integer linear programming formulation is proposed where the trajectory
of the mobile robots is considered jointly with the interference level at
different beam sectors. Therefore, creating a low interference path for each
mobile robot in the industrial floor. A wide set of numerical investigations
reveal that the proposed path planning optimization approach for the mmWave
connected mobile robots can improve the overall achievable throughput by up to
31% compared to an interference oblivious scheme, without penalizing the
overall travelling time.
