We address the adaptive self-organization problem for mobile robotic sensors creating wireless ad hoc networks while adapting to topological changes. Our challenge is placed on how to exploit locally communicative interactions with minimal conditions such as locality and implicit coordination. Each sensor node organizes and updates its partially-connected network through selecting specific neighboring nodes with higher connectivity. The effectiveness of the proposed framework is verified by extensive simulations and experiments with RFID sensor networks that contain mobile sensor nodes. The most notable features of our approach include self-organization, topological adaptation, and self-healing, enabling self-organization of mobile sensor networks in an efficient way.
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