  We consider a problem of robotic router placement and mobility control with
the objective of formation and maintenance of an optimal communication network
between a set of transmitter-receiver pairs. In this scenario, the
communication path between any transmitter-receiver pair contains a
predetermined set of mobile robotic routers nodes. The goal of this work is to
design an algorithm to optimize the positions of the robotic nodes to improve
the overall performance of the network. We define the optimization metric to be
the minimum of the Signal to Interference plus Noise Ratios (SINR) over all the
links. In this manuscript, we propose two optimization algorithms to solve this
problem in a centralized and a decentralized manner, respectively.We also
demonstrate the performances of both algorithms based on a set of simulation
experiments.
