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We consider a problem of robotic router placement and mobility control withthe objective of formation and maintenance of an optimal communication networkbetween a set of transmitter-receiver pairs. In this scenario, thecommunication path between any transmitter-receiver pair contains apredetermined set of mobile robotic routers nodes. The goal of this work is todesign an algorithm to optimize the positions of the robotic nodes to improvethe overall performance of the network. We define the optimization metric to bethe minimum of the Signal to Interference plus Noise Ratios (SINR) over all thelinks. In this manuscript, we propose two optimization algorithms to solve thisproblem in a centralized and a decentralized manner, respectively.We alsodemonstrate the performances of both algorithms based on a set of simulationexperiments.

Towards Controllability of Wireless Network Quality using Mobile Robotic Routers