Cooperative Mobility Control for Maintaining Required Throughput in Multiple Ad Hoc Networks with Autonomous Mobile Robots

We proposes a travel route control method that achieves a required throughput value for a long time where multiple autonomous mobile robots (AMRs) communicate with the network edge using a wireless LAN ad hoc network. While a related work used the time-integral value of throughput as an evaluation index to improve throughput as much as possible, we focus on the time to achieve a certain required throughput value. The proposed method determines the travel route of AMRs that help relaying, called relay-AMRs, based on a heat map of throughput for each relay-AMR location, by specifying only the location at the start and end of the relaying process. This proposed method improves the time to achieve the required throughput by up to 19.4% compared to conventional method.