Throughput optimisation in ad Hoc networks of communication-aware mobile robots

Abstract

We study throughput optimisation of ad hoc networks of communicationaware mobile robots. The mobile robots equipped with sensing and communication capacities can maintain connectivities and estimate the quality of communication links with their neighbouring peers. The mobile robots self-organise a wireless ad hoc network for transmitting environment exploited data from sources to destinations. Graph-based network model and artificial potential force-based connectivity maintenance are integrated in different ways for the control design of mobile robots. We consider throughput optimisation in twofold: (1) routing-aware optimisation and (2) routing-unaware optimisation. The Monte Carlo simulation results are comparatively analysed and discussed according to the performance metrics.