I Introduction
Mobile ad-hoc networks (MANET) are popular especially in robotics and artificial intelligence (AI) research with direct applications in military and civilian mission-critical tasks, such as well-defined coordinated objectives [1]–[5], multi-agent collaboration for swarm robots for distributed missions to fetch and retrieve objects [6], uniform node distribution for knowledge sharing agents [7]–[9], centralized reasoning systems for multi-robot teams [10], robotic communications for collision avoidance and map exploration [11], [12], swarm behavior [5], [13], and ant colony applications [14], [15]. Although a few testbed implementations are reported (e.g., FPGA implementations for ant colony applications [14] and service reliability [16]), most of the current research is based on simulations due to the high cost and complexity of building, operating and maintaining a realistic testbed.