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In this paper, the authors consider the problem of robotic router formation, where a node needs to maintain its connectivity to a fixed station by using a number of mobile routers. While most literature on this topic optimizes the formation of the routers by maximizing the Fiedler eigen-value of the resulting graph, they take a different approach and consider the true reception quality. By following a transmission of a bit from the transmitter to the receiver, they formulate the probability of bit error of the reception as a function of the positions of the routers. Then, they formulate an optimization problem that aims at minimizing the probability of bit error in the receiver while considering the environmental constraints.
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