An apparatus, system, and method efficiently manage reverse link communication in a communication system having geographically distributed base stations. A heat treatment process has been found to significantly increase the oxygen-scavenging performance of the polymer. The porous resin enables forming a fine circuit pattern and has a low dielectric constant and, when used as an insulating layer of a circuit board, brings about improved high frequency characteristics. An adaptive neuro-fuzzy inference system -based structure is used to solve the online trajectory planning of the MPM.