Performance Evaluation of Point-to-Point LoRa Communication on a Mappi32-Based Outdoor Patrol Robot System

Abstract

Outdoor patrol robots require reliable wireless communication to transmit sensor and operational data to a remote monitoring station. In wide-area outdoor environments, conventional short-range wireless technologies may suffer from limited coverage and increased power consumption. LoRa communication offers a low-power, long-range alternative suitable for periodic telemetry transmission. This study presents an experimental evaluation of point-to-point LoRa communication implemented on a Mappi32-based outdoor patrol robot system. The assessment was conducted through route-based experiments in a campus environment, where a mobile rover transmitted multi-sensor telemetry data to a stationary base station. Communication performance was analyzed in terms of Received Signal Strength Indicator (RSSI), Packet Delivery Ratio (PDR), and latency based on inter-packet arrival time. Experimental results show that RSSI decreases with distance while remaining within the operational range of the LoRa transceiver, an overall PDR of approximately 75% is achieved along the patrol route, and latency remains close to the nominal transmission interval with variations primarily caused by packet loss events. These results indicate that point-to-point LoRa communication using an integrated Mappi32 platform is feasible for outdoor patrol robot telemetry applications in campus-scale environments.