39 Journal of Advances in Computer Research Quarterly pISSN: 2345-606x eISSN: 2345-6078 Sari Branch, Islamic Azad University, Sari, I.R.Iran (Vol. 9, No. 3, August 2018), Pages: 39-53 www.jacr.iausari.ac.ir Representing a Model for Improving Connectivity and Power Dissipation in Wireless Networks Using Mobile Sensors Nasrin Elyasi *1 , Omid Pourgalehdari 2 1) Department of Computer Engineering, Kerman Branch, Islamic Azad University, Kerman, Iran 2) Department of Computer Science, Rafsanjan Branch, Islamic Azad University, Rafsanjan, Iran elyasi67@gmail.com; galedari@gmail.com Received: 2017/08/27; Accepted: 2018/01/10 Abstract Wireless sensor networks are often located in areas where access to them is difficult or dangerous. Today, in wireless sensor networks, cluster-based routing protocols by dividing sensor nodes into distinct clusters and selecting local head- clusters to combine and send information of each cluster to the base station and balanced energy consumption by network nodes, get the best performance in terms of increasing longevity and preservation network coverage as compared to other routine methods. Their main purpose is to control the danger area and transfer data to a sink. Therefore, connecting to sensor networks and coverage rate of controlled area is one of the most important concerns to achieve these goals. In this paper, to cluster wireless sensor networks, a method using the Imperialist competitive evolutionary algorithm is purposed that divides wireless sensor nodes into balanced clusters, in addition to, several mobile robots has been used for improving power dissipation of network, to assist in the transmission of sensor networks and improve network connectivity and coverage rate of the controlled area. In this research, the sensor network is based on an islets-based topology that has been used robots to detect and enhance connectivity and cover cavities that are largely around the sensors. The simulation results show that our new model can greatly improve the network coverage connectivity criteria. The simulation results show its successful performance in increasing longevity of the wireless sensor network. Keywords: Wireless Sensor Networks, Robots, Imperialist Competitive Algorithm, Connectivity, Network Coverage 1. Introduction Wireless Sensor Network (WSN), is a distributed system consists of Base Stations (BS) and large number of mobile Sensor Nodes (SN) that integrate micro sensing, computing and wireless communication capabilities, which are capable of detecting various events related to its surrounding environment such as speed, temperature, pressure, difference in displacement, light, etc. [1]Although localization of sensor networks has been the focus of numerous studies, most existing literature concentrates on the simple scenario where all the sensor and the anchor nodes are stationary. However, in some practical scenarios, such as underwater sensor networks, track movements of small objects, and Vehicular Ad Hoc Networks (VANets), all the sensor and the anchor nodes are non-stationary. Few recent works have addressed the mobile