Strongly-Connected Minimal-Cost Radio-Networks Among Fixed Terminals Using Mobile Relays and Avoiding No-Transmission Zones

We present strategies for realizing a swarm of mobile relays to provide a bi-directional wireless network that connects fixed terminals. Neither terminals or relays are permitted to transmit into disk-shaped no-transmission zones. We assume a planar environment and that each transmission area is a disk centered at the transmitter. We seek a strongly connected network between all terminals with minimal total cost, where the cost is the sum area of the transmission disks.Results for networks with increasing levels of complexity are provided. The solutions for local networks containing low numbers of relays and terminals are applied to larger networks. For more complex networks, algorithms for a minimum-spanning tree (MST) based procedure are implemented to reduce the solution cost.