Detecting Separation in Robotic and Sensor Networks

In this paper we consider the problem of monitoring detecting separation of agents from a base station in robotic and sensor networks. Such separation can be caused by mobility and/or failure of the agents. While separation/cut detection may be performed by passing messages between a node and the base in static networks, such a solution is impractical for networks with high mobility, since routes are constantly changing. We propose a distributed algorithm to detect separation from the base station. The algorithm consists of an averaging scheme in which every node updates a scalar state by communicating with its current neighbors. We prove that if a node is permanently disconnected from the base station, its state converges to 0. If a node is connected to the base station in an average sense, even if not connected in any instant, then we show that the expected value of its state converges to a positive number. Therefore, a node can detect if it has been separated from the base station ...

• Type: Journal
• Year: 2011
• Where: CORR
• Authors: Chenda Liao, Harshavardhan Chenji, Prabir Barooah, Radu Stoleru, Tamás Kalmár-Nagy
• Keywords: Algorithm, Base Station, CORR 2011, Education, Node