Optimization of Relay Node Deployment in Multi-Robot Island Alliance

Abstract

Wireless Sensor Networks (WSNs) operating in harsh environments are prone to the formation of isolated node clusters, leading to communication interruptions. To restore network connectivity and enhance the efficiency of multi-robot collaboration, this paper focuses on the optimization of relay node deployment within the context of multi-robot island alliance formation. The objective is to efficiently reconnect isolated subgroups while optimizing the overall network performance post-alliance formation. This paper proposes a collaborative optimization strategy based on energy balancing and load balancing. A zonal energy model is constructed to constrain robot energy consumption, and a heuristic deployment algorithm is designed. Additionally, a local load-aware model is established, and a graph search algorithm is utilized to plan disjoint paths for traffic balancing. Experimental results demonstrate that the proposed method effectively reduces the number of relay nodes, shortens deployment time, prolongs network lifetime, and improves load balancing performance. This study provides a robust solution for reliable communication in multi-robot systems operating within complex scenarios.