Robotic routers: Algorithms and implementation

Onur Tekdas, Yang Wei Yang, Volkan Isler

Research output: Contribution to journalArticlepeer-review

34 Scopus citations


Mobile robots equipped with wireless networking capabilities can act as robotic routers and provide network connectivity to mobile users. Robotic routers provide cost-efficient solutions for the deployment of a wireless network in a large environment with a limited number of users. In this paper, we present motion planning algorithms for robotic routers to maintain the connectivity of a single user to a base station. We consider two motion models for the user. In the first model, the users motion is known in advance. In the second model, the user moves in an adversarial fashion and tries to break the connectivity. We present optimal motion planning strategies for both models. We also present details of a proof-of-concept implementation.

Original languageEnglish (US)
Pages (from-to)110-126
Number of pages17
JournalInternational Journal of Robotics Research
Issue number1
StatePublished - Jan 2010


  • Controlled mobility
  • Networked robotics
  • Path planning for multiple mobile robots


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