Choosing paths that prevent network partitioning in mobile ad-hoc networks

In the environment of a mobile ad-hoc network, node mobility can often create network partitions, rendering communication impossible between nodes in disjoint sections and wasting some of the available power and bandwidth on fruitless route determination efforts. In this work, we propose to address this problem in the specific case where it is possible to control the movement of each mobile node, such as a system of mobile robots. We do this by adjusting the paths taken by mobile nodes to ensure network partitions never occur. Knowing the initial position of every node, and receiving as input their desired final positions, a set of intermediate waypoints is computed for each route. Every node then follow those waypoints on its way to the final destination, thus ensuring global connectivity is never lost.