Configuration of mobile routers to support reliable communications

In mobile ad hoc networks (MANET), mobile routers should adjust their positions adaptively to support the connectivity of a communication link. In this paper, we propose a unique and decentralized controller that can feasibly deploy mobile routers to guarantee the communication connectivity of an exploring robot to a base station while avoiding obstacles in environment. A new concept of connectivity robustness is introduced in the evaluating the connectivity quality of communication links. Connectivity constraint and continuous model for obstacle avoidance is utilized in building the navigation function. The designed potential field integrates exploring requirement, router configuration, connectivity maintenance, and obstacle avoidance simultaneously, based on which a bounded control input is designed for multirobot control. The proposed controller is shown to be capable of driving the exploring robot to the goal position while maintaining the communication connectivity with the base station all the time. Experiments are performed to demonstrate the effectiveness of the proposed controller.