A processor implemented method, comprising: computing, using a Collaborative Robotic based Link Prediction (CRLP) protocol, a link matrix between a first set of robots and a second set of robots deployed in an environment, wherein the CRLP protocol uses an Extended Kalman Filter and path-loss modeling to compute the link matrix, and the link matrix is computed based on a Kalman gain, Jacobian matrix incorporating the path-loss modeling, and a covariance matrix capturing variance of each robot pose during motion; performing a comparison of a value associated with the link matrix and a predefined link covariance matrix threshold, wherein the predefined link covariance matrix threshold is reconfigurable based on environment type for deployment of the first set of robots and the second set of robots; determining at least one status of a CRLP-based link prediction between the first set of robots and the second set of robots based on the comparison, wherein the at least one status comprises an unavailable status and an available status; establishing, using an Assisted Link Prediction Protocol based on the link matrix computed using the CRLP protocol, a communication link between the first set of robots and the second set of robots based on the determined at least one status, and performing one of: receiving, via the established communication link, by a robot from the first set of robots, a first set of beacon packets from at least one robot from the second set of robots, and updating, using the ALP protocol, the predefined link covariance matrix threshold based on a comparison of a power of the received first set of beacon packets with a predefined Received Signal Strength Indicator (RSSI) threshold; and transmitting via the established communication link, by a robot from the first set of robots, a second set of beacon packets to at least one robot from the second set of robots, and dynamically updating, using the ALP Protocol, the predefined link covariance matrix threshold based on a receipt of an acknowledgement for the second set of beacon packets being transmitted to the at least one robot from the second set of robots. computing, using a Collaborative Robotic based Link Prediction (CRLP) protocol, a link matrix between a first set of robots and a second set of robots deployed in an environment, wherein the CRLP protocol uses an Extended Kalman Filter and path-loss modeling to compute the link matrix, and the link matrix is computed based on a Kalman gain, Jacobian matrix incorporating the path-loss modeling, and a covariance matrix capturing variance of each robot pose during motion; performing a comparison of a value associated with the link matrix and a predefined link covariance matrix threshold, wherein the predefined link covariance matrix threshold is reconfigurable based on environment type for deployment of the first set of robots and the second set of robots; determining at least one status of a CRLP-based link prediction between the first set of robots and the second set of robots based on the comparison, wherein the at least one status comprises an unavailable status and an available status; establishing, using an Assisted Link Prediction Protocol based on the link matrix computed using the CRLP protocol, a communication link between the first set of robots and the second set of robots based on the determined at least one status, and performing one of: receiving, via the established communication link, by a robot from the first set of robots, a first set of beacon packets from at least one robot from the second set of robots, and updating, using the ALP protocol, the predefined link covariance matrix threshold based on a comparison of a power of the received first set of beacon packets with a predefined Received Signal Strength Indicator (RSSI) threshold; and transmitting via the established communication link, by a robot from the first set of robots, a second set of beacon packets to at least one robot from the second set of robots, and dynamically updating, using the ALP Protocol, the predefined link covariance matrix threshold based on a receipt of an acknowledgement for the second set of beacon packets being transmitted to the at least one robot from the second set of robots. receiving, via the established communication link, by a robot from the first set of robots, a first set of beacon packets from at least one robot from the second set of robots, and updating, using the ALP protocol, the predefined link covariance matrix threshold based on a comparison of a power of the received first set of beacon packets with a predefined Received Signal Strength Indicator (RSSI) threshold; and transmitting via the established communication link, by a robot from the first set of robots, a second set of beacon packets to at least one robot from the second set of robots, and dynamically updating, using the ALP Protocol, the predefined link covariance matrix threshold based on a receipt of an acknowledgement for the second set of beacon packets being transmitted to the at least one robot from the second set of robots.