Optimizing Network Topology to Reduce Aggregate Traffic in a System of Mobile Robots Under an Energy Constraint
Autonomous mobile robots, such as unmanned aerial or ground vehicles, will play important roles in future military and commercial applications. Future systems will require the robots to communicate with each other on a peer-to-peer basis over a wireless link and are able to form a networked system such as an ad hoc network. In this paper, the authors consider a problem of optimizing the topology of the network for such systems. Their solution consists of two steps. They first develop a novel method to select a network tree topology from arbitrary initial connected network topology.