A graph-based control scheme of Mobile Ad-hoc NETworks for safety & rescue missions

In this paper, a novel control algorithm to control and autonomously coordinate a Mobile Ad-hoc NETwork (MANET) is presented. By exploiting concept borrowed from graph theory, the presented algorithm focuses on the possibility of controlling only one node of the communication network to collect data (such as a robotic explorer moving in a disaster scenario) while the robotic antennas used to preserve the connectivity with a base camp are autonomously adapting their configuration depending on the obstacles detected in environment.