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The void problem causing the routing failure is the main challenge of the greedy routing in the Wireless Sensor Networks. The current research paper still cannot fully deal with the void problem since the excessive control overheads should be consumed so as to guarantee the delivery of packets. In the authors' previous work, a Greedy Anti-void Routing (GAR) protocol is proposed to solve the void problem with increased routing efficiency by exploiting the boundary finding technique for the Unit Disk Graph (UDG). The proposed Rolling-ball UDG boundary Traversal (RUT) is employed to completely guarantee the delivery of packets from the source to the destination node under the UDG network.
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