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We consider the problem of energy balancing in a clustered wireless sensornetwork (WSN) deployed randomly in a large field and aided by a mobile robot(MR). The sensor nodes (SNs) are tasked to monitor a region of interest (ROI)and report their test statistics to the cluster heads (CHs), which subsequentlyreport to the fusion center (FC) over a wireless fading channel. To maximizethe lifetime of the WSN, the MR is deployed to act as an adaptive relay betweena subset of the CHs and the FC. To achieve this we develop a multiple-linkmobility diversity algorithm (MDA) executed by the MR that will allow tocompensate simultaneously for the small-scale fading at the establishedwireless links (i.e., the MR-to-FC as well as various CH-to-MR communicationlinks). Simulation results show that the proposed MR aided technique is able tosignificantly reduce the transmission power required and thus extend theoperational lifetime of the WSN. We also show how the effect of small-scalefading at various wireless links is mitigated by using the proposedmultiple-link MDA executed by a MR equipped with a single antenna.

Energy balancing for robotic aided clustered wireless sensor networks using mobility diversity algorithms