Localized Mobility Control Routing in Robotic Sensor Wireless Networks

The paper addresses mobility control routing in robotic sensor wireless networks, where either mobile sensors or mobile actuators assist in wireless data intensive transmissions from sensors. Given a communication request between a source destination pair, the problem is to find a route and move each node on the route to its desired location, such that total transmission power is minimized. We study the optimal number of hops and optimal distance of adjacent nodes on the route. We propose OHCR algorithm that is based on the optimal number of hops on the route. We further propose MPoPR algorithm that minimizes transmission power over progress. After finding an initial path, strategies of move in rounds and move directly are both considered to move nodes to desirable locations. Extensive simulations are conducted to evaluate our proposed routing algorithms.