Bondgraph model for system of systems wireless communication link

Throughout this paper, we present a bondgraph model for a wireless communication link (WCL) between two component systems of a System of Systems (SoS). Our work contributes to enhancing the cooperative behavior of SoS by examining the benefit of integrating bondgraphs and hypergraphs in modeling SoS. We analyze basic channel effects and critical parameters used in the model. We present a case study on power measurements in maze solving omni-drive mobile robot called Robotino and correlate the obtained results to our model.