@article {1504004,
	title = {Mitigating Multi-path Fading in a Mobile Mesh Network },
	journal = {Ad-Hoc Networks Journal},
	volume = {11},
	number = {4},
	year = {2013},
	pages = {1510-1521},
	abstract = {By using robots as routers, a team of networked robots can provide a communication substrate to establish a wireless mesh network. The mobile mesh network can autonomously optimize its configuration, increasing performance. One of the main sources of radio signal fading
in such a network is multi-path propagation, which can be mitigated by moving the senders or
the receivers on the distance of the order of a wavelength. In this paper, we measure the performance gain when robots are allowed to make such small movements and find that it may be as
much as 270\%. Our main contribution is the design of a system that allows robots to cooperate
and improve the real-world network throughput via a practical solution. We model the problem
of which robots to move as a distributed constraint optimization problem (DCOP). Our study
includes four local metrics to estimate global throughput.}
}
