HIRO-NET: Self-organized robotic mesh networking for internet sharing in disaster scenarios

In this paper we present HIRO-NET, Heterogeneous Intelligent Robotic Network. HIRO-NET is an emergency infrastructure-less network tailored to address the problem of providing connectivity in the immediate aftermath of a natural disaster, where no cellular or wide area network is operational and no Internet access is available. HIRO-NET establishes a two-tier wireless mesh network where the Lower Tier connects nearby survivors in a self-organized mesh via Bluetooth Low Energy (BLE)and the Upper Tier creates long-range VHF links between autonomous robots exploring the disaster stricken area. HIRO-NET main goal is to enable users in the disaster to exchange text messages in order to share critical information and request help from first responders. The mesh network discovery problem is analyzed and a network protocol specifically designed to facilitate the exploration process is presented. We show how HIRO-NET robots successfully discover, bridge and interconnect local mesh networks. Results show that the Lower Tier always reaches network convergence and the Upper Tier can virtually extend HIRO-NET functionalities to the range of a small metropolitan area. In the event of an Internet connection still being available to some user, HIRO-NET is able to opportunistically share and provide access to low data-rate services (e.g. Twitter, Gmail)to the whole network. Results suggest that a temporary emergency network to cover a metropolitan area can be created in tens of minutes.