A Comparative Analysis of BLE V.5 and BLE V.4 Communication Protocols for Multi-Agent Rescue Robots under Rayleigh Fading Channel

This article presents a thorough evaluation of the applicability of Bluetooth Low Energy (BLE) version 5 as a communication protocol for multi-agent systems in search and rescue missions. The study extensively investigates the energy efficiency and reliability aspects of BLE v.5.3 to facilitate effective communication among multiple robots in such scenarios. A key focus of the research is the simulation of the advertising mode of BLE in the challenging presence of the Rayleigh fading channel, which is inevitable in the search and rescue environment. Furthermore, a comprehensive analysis is conducted by comparing BLE v.5.3 with the previous version, BLE v.4, with specific emphasis on energy efficiency and throughput metrics. Additionally, the study delves into the investigation of packet collision phenomena within the advertising mode of BLE v.5.3, shedding light on energy consumption, throughput performance, and the probability of packet collision. The findings of this study provide valuable insights for the design and implementation of communication systems within comparable scenarios.