No abstract

This paper presents algorithms that form optimal connecting configurations for Mobile Ad Hoc Networks (MANETs). MANET is a computer network that is dynamically formed by autonomous mobile nodes. Today, the communication network is one of the most important infrastructures. When it is lost by either natural or accidental disaster, the recovery of the communication network should be one of the first priorities. We are proposing a way of constructing an extemporized communication network on the spot by a herd of mobile robots that communicate by wireless link. The networks we are considering are formed by multiple relay robots; therefore the algorithms are naturally distributed ones and executed by the herd of relay robots. The relay robots move cooperatively but without any central control. In order to collect and to distribute enough information to coordinate the behaviours of participating relay robots, we employ mobile software agents that we have developed and succeeded in using many applications. There are a number of multi-robot systems that take advantage of MANET, and look for efficient use of relay robot while maintaining connectivity. Our study contributes this line of investigation. The numerical experiments show that our algorithms provide optimal configurations in certain cases.156 Kambayashi Y., Shinohara T. and Takimoto M.. Self-Optimizing Algorithms for Mobile Ad Hoc Networks based on Multiple Mobile Agents.