Dynamic optimization of communication path relayed by optimally controlled mobile nodes

Recent ad-hoc network realized a dynamically changing communication path which is determined by spatial coordination of nodes. But this dynamic reconfiguration of networking gives a delay which is not feasible for actual control system. We supposed a system composed of a stationary node, a moving node with given motion and relaying mobile nodes. The system keeps a communication path between the stationary node and the moving node by optimal control of relaying nodes. The task is set to minimize the distance along the communication path. In order to achieve this task, simultaneous optimization of a communication path and spatial coordination of relaying nodes is needed. Similar graphs are supposed to have similarities in controlling of relaying nodes. The similarity of communication paths can be expressed as a "graphic transition diagram." Using this diagram, we propose a method to find a time series of graphs of communication paths and optimal control of relaying node. This method gave a converging result which can keep the connection with a smaller cost function.