Performance Evaluation of Multi-Hop Communication Based on a Mobile Multi-Robot System in a Subterranean Laneway

For disaster exploration and surveillance application, this paper aims to present a novel application of a multi-robot agent based on WSN and to evaluate multi-hop communications supported by robotics used in subterranean tunnel. The paper proposes a Primary-Scout Multi-Robot System (PSMRS) and reports on the implementation of a chain topology in a subterranean environment using a trimmed ZigBee2006 protocol stack to build the multi-hop communication network. A physical experiment based on the strategy of PS-MRS was used in this paper to evaluate the efficiency of multi-hop communication and to realize the delivery of data packets in an unknown and uncertain underground laboratory environments.