1.1.2. Communication Models

Communication model refers to the prior knowledge about communication capabilities that support the decision making of the robots along the exploration. Nevertheless, sometimes no communication model is assumed and, consequently, robots do not depend on communicating to decide where to go next. In such cases, explicit coordination only occurs opportunistically due to random encounters [20].

The communication models typically adopted are [20]:

• *None*. Robots do not make any assumption on the communication possibilities between any pair of arbitrary locations.


Additionally, to these five categories that cover an essential aspect of the communications, say connectivity, there exist other formulations aimed at cover bandwidth or throughput as well. Clear examples of its use are the applications with a strong dependence on video streaming like search and rescue applications.
