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A robot sensor network (RSN) is defined as a network of sensor-equipped robots and sensor nodes (that are deployed by the robots) that wirelessly communicate for remote-control, mission-cooperation, and to report sensed information to the control and reporting center (CRC). RSNs use real-time video communication support (in addition to various sensor data communication) for mission-cooperation and remote-control of its multi-robots. In this article, the hybrid data-type clustering (HDC) and subnet-divided HDC (SHDC) algorithms are proposed to maximize the RSN lifetime and enable more efficient multi-robot mission-cooperation. 1 A major difference of a RSN compared to a WSN is that RSNs commonly require real-time video data communication support for situational awareness, accurate remote-control, and mission-collaboration, which significantly changes the network requirements compared to having WSN nodes that only need to transfer sensor measurement data.

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