Void Traversal for Guaranteed Delivery in Geometric Routing
  Geometric routing algorithms like GFG (GPSR) are lightweight, scalable algorithms that can be used to route in resource-constrained ad hoc wireless networks. However, such algorithms run on planar graphs only. To efficiently construct a planar graph, they require a unit-disk graph. To make the topology unit-disk, the maximum link length in the network has to be selected conservatively. In practical setting this leads to the designs where the node density is rather high. Moreover, the network diameter of a planar subgraph is greater than the original graph, which leads to longer routes. To remedy this problem, we propose a void traversal algorithm that works on arbitrary geometric graphs. We describe how to use this algorithm for geometric routing with guaranteed delivery and compare its performance with GFG. 
Mikhail Nesterenko, Adnan Vora