A Statistical Radio Range Model for a Robot MANET in a Subterranean Mine

We present a statistical model for the radio range between robots in a mobile ad hoc network (MANET) deployed in an underground mine. Such unmanned mobile robotic networks could potentially be used in hazard mitigation and search and rescue in tunnel environments such as mines and subways, as well as in building environments. In addition to fading characteristics, our model is able to represent the variable nature of the propagation path-loss exponent. To support our model, we present path-loss measurements made in a real mine. The usefulness of our model lies in the fact that it represents an overall propagation model for a mine and therefore can be used to calculate the wireless connectivity probability of an arbitrary node in the network without requiring a detailed physical representation of the MANET within the mine.