Testbed Results of an Opportunistic Routing for Multi-Robot Wireless Networks
Opportunistic routing is a candidate for multi-hop wireless routing where the network topology and radio channels vary rapidly. However, there are not many opportunistic routing algorithms that can be implemented in a real multi-hop wireless network while exploiting the node mobility. It motivates one to implement an opportunistic routing, random Basketball Routing (BR), in a real multi-robot network to see if it can enhance the capacity of the multi-hop network as mobility increases. For implementation purposes, the authors added some features, such as destination RSSI measuring, a loop-free procedure and distributed relay probability updating, to the original BR. They carried out the experiments on a real multi-robot network and compared BR with AODV combined with CSMA/CA (routing + MAC protocol).