An adaptive mobile robot tethering algorithm in constrained environments

This paper presents an adaptive and decentralized robotic cooperation algorithm for controlling mobile sensors to form a chained network and maintaining communication links.Single-layer and double-layer chain tethering algorithms are developed for exploring open and constrained environments by mobile robots.A comprehensive metric for finding the optimal communication range is introduced.With the measurements,mobile robots could be organized into an optimal chained form for tethering.The tethering algorithm could detect the failed nodes and reconfigure the system.It offers an adaptive solution to broken communication links.