Combining Exploration and Ad-Hoc Networking in RoboCup Rescue

In challenging environments where the risk of loss of a robot is high, robot teams are a natural choice. In many applications like for example rescue missions there are two crucial tasks for the robots. First, they have to efficiently and exhaustively explore the environment. Second, they must keep up a network connection to the base-station to transmit data to ensure timely arrival and secure storage of vital information. When using wireless media, it is necessary to use robots from the team as relay stations for this purpose. This paper deals with the problem to combine an efficient exploration of the environment with suited motions of the robots to keep data transmissions stable.