Election-Based Sensor Deployment and Coverage Maintenance by a Team of Robots

Wireless sensor and robot networks (WSRNs) are an integration of wireless sensor network (WSNs) and multi-robot systems. They are comprised of networked sensor and mobile robots that communicate via wireless links to perform distributed sensing and actuation tasks in a region of interest (ROI). In addition to gathering and reporting data, sensors may also report failures of neighboring sensors or lack of coverage in certain neighbourhood to a nearby mobile robot. We propose a solution, called Election-Based Deployment (EBD), for simultaneous sensor deployment and coverage maintenance in multi-robot scenario in failure-prone environment. To the best of our knowledge, it is the first carrier-based localized algorithm that is able to achieve 100 % coverage in a ROI of any shape with multiple robots in failure-prone environment since it combines both sensor deployment and coverage maintenance process. We can observe from the simulation results that EBD outperforms the existing algorithms ...

• Type: Journal
• Year: 2015
• Where: ADHOCNOW
• Authors: Qiao Li, Venkat Narasimhan, Amiya Nayak
• Keywords: ADHOCNOW 2015, Computer Networks