Mobile data-mule optimal path planning for wireless sensor networks

Ourania Tsilomitrou, Anthony Tzes

Research output: Contribution to journalArticlepeer-review


This article is concerned with collecting stored sensor data from a static Wireless Sensor Network utilizing a group of mobile robots that act as data mules. In this scenario, the static sensor nodes’ locations are known a priori, and the overall optimization problem is formulated as a variation of the Traveling Salesman Subset-tour Problem (TSSP). The constraints that are taken into account include: (a) the pairwise distance between static nodes, (b) the maximum time interval between consecutive visits of each static node, (c) the service time that is required for the collection of the sensor data from the mobile element that visits this sensor node, and (d) the energy efficiency for the mobile nodes. The optimal mobile robot paths are computed using an enhanced Mobile Element Scheduling scheme. This scheme extracts the sequential paths of the mobile elements in an attempt to eliminate any sensor data loss.

Original languageEnglish (US)
Article number247
JournalApplied Sciences (Switzerland)
Issue number1
StatePublished - Jan 1 2022


  • Robotic data mule
  • Traveling salesman subset-tour problem (TSSP)
  • Wireless sensor networks

ASJC Scopus subject areas

  • General Materials Science
  • Instrumentation
  • General Engineering
  • Process Chemistry and Technology
  • Computer Science Applications
  • Fluid Flow and Transfer Processes


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