I. Introduction
The mobile ad hoc networks (MANETs) can be defined as a collection of self-autonomous mobile nodes, which communicate with each other via wireless links without infrastructure and centralized administration [1]. Due to their high flexibility and strong robustness, MANETs have become an appealing candidate for lots of critical applications like emergency rescue, military troop communication and traffic offloading for cellular networks, and thus are expected to be an indispensable component in future heterogeneous wireless network architecture [2], [3]. To facilitate the application and commercialization of MANETs, a thorough understanding of their fundamental performance is of great importance [4], [5].