The maintaining of communication links quality in unknown environment

The estimation of communication links quality plays a critical role not only in sensor network routing protocol, but also in maintaining the sensor network. By evaluating the estimation, when identify some failures occurrence, mobile robots can be deployed to automatically move to the region to cover communication gaps. This paper presents a comprehensive metric to evaluate the links quality and the corresponding control schemes to maintain the communication links. The mobile robots dynamically reconfigure themselves to maintain reliable end-to-end communication links. Moreover, the self-deployment algorithms allow a team of robots to recognize the coverage gap by monitoring links quality.