  Wireless communications is nowadays an important aspect of robotics. There
are many applications in which a robot must move to a certain goal point while
transmitting information through a wireless channel which depends on the
particular trajectory chosen by the robot to reach the goal point. In this
context, we develop a method to generate optimum trajectories which allow the
robot to reach the goal point using little mechanical energy while transmitting
as much data as possible. This is done by optimizing the trajectory (path and
velocity profile) so that the robot consumes less energy while also offering
good wireless channel conditions. We consider a realistic wireless channel
model as well as a realistic dynamic model for the mobile robot (considered
here to be a drone). Simulations results illustrate the merits of the proposed
method.
