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Sensors 2013, 13(7), 8695-8721; doi:10.3390/s130708695

RoCoMAR: Robots’ Controllable Mobility Aided Routing and Relay Architecture for Mobile Sensor Networks

Department of Electrical and Computer Engineering, University of Ulsan, Ulsan 680-749, Korea
Author to whom correspondence should be addressed.
Received: 28 May 2013 / Revised: 26 June 2013 / Accepted: 1 July 2013 / Published: 5 July 2013
(This article belongs to the Section Sensor Networks)


In a practical deployment, mobile sensor network (MSN) suffers from a low performance due to high node mobility, time-varying wireless channel properties, and obstacles between communicating nodes. In order to tackle the problem of low network performance and provide a desired end-to-end data transfer quality, in this paper we propose a novel ad hoc routing and relaying architecture, namely RoCoMAR (Robots’ Controllable Mobility Aided Routing) that uses robotic nodes’ controllable mobility. RoCoMAR repeatedly performs link reinforcement process with the objective of maximizing the network throughput, in which the link with the lowest quality on the path is identified and replaced with high quality links by placing a robotic node as a relay at an optimal position. The robotic node resigns as a relay if the objective is achieved or no more gain can be obtained with a new relay. Once placed as a relay, the robotic node performs adaptive link maintenance by adjusting its position according to the movements of regular nodes. The simulation results show that RoCoMAR outperforms existing ad hoc routing protocols for MSN in terms of network throughput and end-to-end delay. View Full-Text
Keywords: robot relays; mobile ad hoc routing; controllable node mobility robot relays; mobile ad hoc routing; controllable node mobility

This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

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MDPI and ACS Style

Le, D.V.; Oh, H.; Yoon, S. RoCoMAR: Robots’ Controllable Mobility Aided Routing and Relay Architecture for Mobile Sensor Networks. Sensors 2013, 13, 8695-8721.

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