Institute of Electrical & Electronic Engineers
In this paper, the authors consider the problem of robotic router formation, where two nodes need to maintain their connectivity over a large area by using a number of mobile routers. They are interested in the robust operation of such networks in realistic communication environments that naturally experience path loss, shadowing, and multipath fading. They propose a probabilistic router formation and motion-planning approach by integrating their previously proposed stochastic channel learning framework with robotic router optimization. They furthermore consider power constraints of the network, including both communication and motion costs, and characterize the underlying tradeoffs.