International audienceThis paper addresses the usage of actuators (sensors with controlled mobility) for routing in wireless sensor and actuator networks. Different routing protocols have been proposed to improve routing in terms of energy efficiency through the use of controlled mobility enabled sensors . We introduce MobileR. Unlike literature proposals also using actuators, MobileR considers the cost of a full path toward one of its neighbours instead of the cost of the direct edge toward it. To do so, MobileR computes in advance the possible routing paths over the next hops relying on the one-hop neighbours and their possible relocations. Moreover MobileR is fully localised and stateless. We evaluate our solution in terms of cumulative energy consumption with regard to network density. Experiments show that, with sufficient node degree, energy used for routing is significantly reduced and so network lifetime is extended
