Abstract
The authors have been developing an information-gathering system using mobile robots and WSNs (Wireless Sensor Networks) in underground spaces in post-disaster environments. In our system, mobile robots carry wireless sensor nodes (SN) and deploy them into the environment. This paper describes a design of algorizhm for WSN construction using mobile robots to improve fault tolerance of SNs. SNs are deployed to ensure communication performance of throughput for teleoperation of rescue robot via WSN in underground spaces. If some SNs are in failure, communication path is reconstructed to maintain end-to-end throughput of WSN. Experimental results using a proposed method are presented.
