Maintaining Communication Links Using a Team of Mobile Robots

Wei Zhuang, Xi Chen, Jindong Tan


This paper presents a comprehensive metric to evaluate the link quality and the corresponding control schemes for the distributed control of a team of robots to maintain the communication links. The mobile robots dynamically reconfigure themselves to maintain reliable end-to-end communication links. Such applications require online measurements of communication quality in real time and require a mapping between link quality and robot positions. In this paper, we present the empirical results and analysis of a link variability study for an indoor and outdoor environments including received signal strength indicator (RSSI), throughput and packet loss rate. The distributed control algorithms consider the environmental constrains and obstacles. Moreover, the self-deployment algorithms allow a team of robots to recognize the coverage gap by monitoring link qualities, and deploy the mobile robots for a variety of applications including self-healing, tethering, intelligent relaying. The assessment of link quality acts as the feedback for cooperative control of mobile robots. The experimental results have shown the effectiveness of evaluation for communication links and the related control schemes.


Communication Link, Networked Robots, Decentralized Control, RSSI

Full Text:



E. Stump, A. Jadbabaie, and V. Kumar. Connectivity management in mobile robot teams. obotics and Automation, 2008. ICRA 2008. IEEE International Conference on, pages 525–1530, May 2008.

M.R. Souryal, L. Klein-Berndt, L.E. Miller, and N. Moayeri. Link assessment in an indoor 02.11 network. Wireless Communications and Networking Conference, 2006. WCNC 2006. EEE, 3:1402–1407, 2006.

Cory Dixon and Eric W. Frew. Maintaining optimal communication chains in robotic sensor etworks using mobility control. In Mobile Networks and Applications, volume 14, Issue 3, une 2009.

K.A. Luthy, E. Grant, and T.C. Henderson. Leveraging rssi for robotic repair of disconnected ireless sensor networks. Robotics and Automation, 2007 IEEE International Conference n, pages 3659–3664, April 2007.

Yongguo Mei, Yung-Hsiang Lu, Y.C. Hu, and C.S.G. Lee. Deployment of mobile robots ith energy and timing constraints. Robotics, IEEE Transactions on, 22(3):507–522, June 006.

P. Ogren, E. Fiorelli, and N.E. Leonard. Cooperative control of mobile sensor networks: daptive gradient climbing in a distributed environment. Automatic Control, IEEE ransactions on, 49(8):1292–1302, Aug. 2004.

Jindong Tan. A scalable graph model and coordination algorithms for multi-robot systems. dvanced Intelligent Mechatronics. Proceedings, 2005 IEEE/ASME International Conference n, pages 1529–1534, July 2005.

C. Dixon and E.W. Frew. Controlling the mobility of network nodes using decentralized xtremum seeking. Decision and Control, 2006 45th IEEE Conference on, pages 1291–1296, ec. 2006.

E.W. Frew, D.A. Lawrence, C. Dixon, J. Elston, and W.J. Pisano. Lyapunov guidance ector fields for unmanned aircraft applications. American Control Conference, ACC '07, ages 371–376, July 2007.

M.R. Souryal and N. Moayeri. Channel-adaptive relaying in mobile ad hoc networks with ading. Sensor and Ad Hoc Communications and Networks, IEEE SECON 2005. Second nnual IEEE Communications Society Conference on, pages 142–152, Sept., 2005.

Michael R. Souryal, Johannes Geissbuehler, Leonard E. Miller, and Nader Moayeri. Realtime eployment of multihop relays for range extension. In MobiSys '07: Proceedings of the th international conference on Mobile systems, applications and services, pages 85–98, New ork, NY, USA, 2007. ACM.

Arzad Kherani Sorav Bansal, Rajeev Shoreyý. Performance of tcp and udp protocols in ulti-hop multi-rate wireless networks. In IEEE Wireless Communications and Networking onference, volume Vol.1, pages 231 – 236, 2004.

Henrik Lundgren, Erik Nordströ, and Christian Tschudin. Coping with communication gray ones in ieee 802.11b based ad hoc networks. In WOWMOM '02: Proceedings of the 5th CM international workshop on Wireless mobile multimedia, pages 49–55, New York, NY, SA, 2002. ACM.

Wei Zhuang, Xi Chen, Jindong Tan, and Aiguo Song. An empirical analysis for evaluating he link quality of robotic sensor networks. In IEEE international conference on wireless ommunication and signal processing, Nanjing, China, November 13-15, 2009., 2009.


Copyright (c) 2017 Wei Zhuang, Xi Chen, Jindong Tan

Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.

CC-BY-NC  License for Website User

Articles published in IJCCC user license are protected by copyright.

Users can access, download, copy, translate the IJCCC articles for non-commercial purposes provided that users, but cannot redistribute, display or adapt:

  • Cite the article using an appropriate bibliographic citation: author(s), article title, journal, volume, issue, page numbers, year of publication, DOI, and the link to the definitive published version on IJCCC website;
  • Maintain the integrity of the IJCCC article;
  • Retain the copyright notices and links to these terms and conditions so it is clear to other users what can and what cannot be done with the  article;
  • Ensure that, for any content in the IJCCC article that is identified as belonging to a third party, any re-use complies with the copyright policies of that third party;
  • Any translations must prominently display the statement: "This is an unofficial translation of an article that appeared in IJCCC. Agora University  has not endorsed this translation."

This is a non commercial license where the use of published articles for commercial purposes is forbiden. 

Commercial purposes include: 

  • Copying or downloading IJCCC articles, or linking to such postings, for further redistribution, sale or licensing, for a fee;
  • Copying, downloading or posting by a site or service that incorporates advertising with such content;
  • The inclusion or incorporation of article content in other works or services (other than normal quotations with an appropriate citation) that is then available for sale or licensing, for a fee;
  • Use of IJCCC articles or article content (other than normal quotations with appropriate citation) by for-profit organizations for promotional purposes, whether for a fee or otherwise;
  • Use for the purposes of monetary reward by means of sale, resale, license, loan, transfer or other form of commercial exploitation;

    The licensor cannot revoke these freedoms as long as you follow the license terms.

[End of CC-BY-NC  License for Website User]

INTERNATIONAL JOURNAL OF COMPUTERS COMMUNICATIONS & CONTROL (IJCCC), With Emphasis on the Integration of Three Technologies (C & C & C),  ISSN 1841-9836.

IJCCC was founded in 2006,  at Agora University, by  Ioan DZITAC (Editor-in-Chief),  Florin Gheorghe FILIP (Editor-in-Chief), and  Misu-Jan MANOLESCU (Managing Editor).

Ethics: This journal is a member of, and subscribes to the principles of, the Committee on Publication Ethics (COPE).

Ioan  DZITAC (Editor-in-Chief) at COPE European Seminar, Bruxelles, 2015:

IJCCC is covered/indexed/abstracted in Science Citation Index Expanded (since vol.1(S),  2006); JCR2018: IF=1.585..

IJCCC is indexed in Scopus from 2008 (CiteScore2018 = 1.56):

Nomination by Elsevier for Journal Excellence Award Romania 2015 (SNIP2014 = 1.029): Elsevier/ Scopus

IJCCC was nominated by Elsevier for Journal Excellence Award - "Scopus Awards Romania 2015" (SNIP2014 = 1.029).

IJCCC is in Top 3 of 157 Romanian journals indexed by Scopus (in all fields) and No.1 in Computer Science field by Elsevier/ Scopus.


 Impact Factor in JCR2018 (Clarivate Analytics/SCI Expanded/ISI Web of Science): IF=1.585 (Q3). Scopus: CiteScore2018=1.56 (Q2);

SCImago Journal & Country Rank

Editors-in-Chief: Ioan DZITAC & Florin Gheorghe FILIP.