  The 6G paradigm and the massive usage of interconnected wireless devices
introduced the need for flexible wireless networks. A promising approach lies
in employing Mobile Robotic Platforms (MRPs) to create communications cells
on-demand. The challenge consists in positioning the MRPs to improve the
wireless connectivity offered. This is exacerbated in millimeter wave (mmWave),
Terahertz (THz), and visible light-based networks, which imply the
establishment of short-range, Line of Sight (LoS) wireless links to take
advantage of the ultra-high bandwidth channels available.
  This paper proposes a solution to enable the obstacle-aware, autonomous
positioning of MRPs and provide LoS wireless connectivity to communications
devices. It consists of 1) a Vision Module that uses video data gathered by the
MRP to determine the location of obstacles, wireless devices and users, and 2)
a Control Module, which autonomously positions the MRP based on the information
provided by the Vision Module. The proposed solution was validated in
simulation and through experimental testing, showing that it is able to
position an MRP while ensuring LoS wireless links between a mobile
communications cell and wireless devices or users.
