Multirobot Federating Method for Disjoint Segments in Wireless Sensor Network Based on Optimal Anchor Point and Local Priority

In order to solve the connectivity problem between multiple islands in the wireless sensor network (WSN) due to large-scale damage, a multirobot WSN island alliance method based on the local priority of the optimal anchor point is proposed. This method introduces the idea of priority restoration of local connectivity in weighted networks and uses the optimal anchor point election mechanism to construct connectivity paths. Compared with existing methods, LPRMA’s local preferential recovery thinking makes WSN island alliances more adaptable. And LPRMA’s trunk deployment strategy based on optimal anchor can significantly reduce the path length and the number of trunk deployments for connected recovery. Finally, through the comparison and simulation experiments with the existing methods, the results show that the proposed method can effectively improve the efficiency of WSN island alliance while satisfying the constraints of lower network delay and higher robustness.