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Millions of dedicated sensors are deployed in smart cities to enhance quality of urban living. Communication technologies are critical for connecting these sensors and transmitting events to sink. In control systems of mobile wireless sensor networks (MWSNs), mobile nodes are constantly moving to detect events, while static nodes constitute the communication infrastructure for information transmission. Therefore, how to communicate with sink quickly and effectively is an important research issue for control systems of MWSNs. In this paper, a communication scheme named first relay node selection based on fast response and multihop relay transmission with variable duty cycle (FRAVD) is proposed. The scheme can effectively reduce the network delay by combining first relay node selection with node duty cycles setting. In FRAVD scheme, first, for the first relay node selection, we propose a strategy based on fast response, that is, select the first relay node from adjacent nodes in the communication range within the shortest response time, and guarantee that the remaining energy and the distance from sink of the node are better than the average. Then for multihop data transmission of static nodes, variable duty cycle is introduced novelty, which utilizes the residual energy to improve the duty cycle of nodes in far-sink area, because nodes adopt a sleep-wake asynchronous mode, increasing the duty cycle can significantly improve network performance in terms of delays and transmission reliability. Our comprehensive performance analysis has demonstrated that compared with the communication scheme with fixed duty cycle, the FRAVD scheme reduces the network delay by 24.17%, improves the probability of finding first relay node by 17.68%, while also ensuring the network lifetime is not less than the previous researches, and is a relatively efficient low-latency communication scheme. [ABSTRACT FROM AUTHOR]