In a mobile-robot sparse sensor network, we propose a communication protocol called WISER (Wireless Interactive SEnsing Robot) to gurantee adaptive data delivery according to requirement of an application. We design WISER in detail based on the knowledge of network topology held by nodes and traffic models. And we propose a method called pipeline which transmits continuous data packets efficiently. In this paper, we implemented and evaluated WISER protocol on a simulation tool. We prove that large amount of information about network topology give the optimization the mobile sensor network system by suppressing the amount of node movement.