In this paper a novel graph-based approach to the self coordination of robotic Mobile Ad-hoc NETworks (MANETs) to be used in disaster scenarios is presented. In particular, in the proposed approach a leader-follower architecture is exploited in order to control few nodes while ensuring that connectivity is preserved between a base node and an explorer (a robotic explorer or a human rescuer) that is moving in unknown environments. The presented algorithm is supported by means of simulations.
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