Communication strategy for network of cellular robotic system (CEBOT)-mastering methods for single and two tops structures

Proposes a communication strategy for the communication network of ´cellular robotic system´ (CEBOT). The strategy is based on the selection of master cells in the network. The master cells of the system are determined by minimizing the ´network energy´, which is defined based on the information flow in the network. The local energy sensitive estimation method is used for the selection of the master cells. The authors present both the single master and ´two tops structure´ in the network. The ´two tops structure´ means that the network has two master cells. A network is separated into two subnetworks, each of which has one master cell. The efficiency of the information flow is improved and the load for the master cell in each subnetwork is reduced by appropriately selecting the master cell.<>