Decentralized control for mobile robotic sensor network self-deployment: barrier and sweep coverage problems

Cheng, Teddy M.; Savkin, Andrey V.

doi:10.1017/s0263574710000147

Cited by 79 publications

(69 citation statements)

References 24 publications

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“…To improve coverage and reduce the cost of deployment in a geographically vast area, employing a network of mobile sensors for the coverage is an attractive option. Three types of coverage problems for robotics were studied in recent years: blanket coverage, 238 barrier coverage, 46,47 and sweep coverage. 46,48 Combining existing coverage algorithms with effective collision avoidance methods is an open practically important problem.…”

Section: Multiple Vehicle Navigationmentioning

confidence: 99%

Algorithms for collision-free navigation of mobile robots in complex cluttered environments: a survey

2014

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SUMMARYWe review a range of techniques related to navigation of unmanned vehicles through unknown environments with obstacles, especially those that rigorously ensure collision avoidance (given certain assumptions about the system). This topic continues to be an active area of research, and we highlight some directions in which available approaches may be improved. The paper discusses models of the sensors and vehicle kinematics, assumptions about the environment, and performance criteria. Methods applicable to stationary obstacles, moving obstacles and multiple vehicles scenarios are all reviewed. In preference to global approaches based on full knowledge of the environment, particular attention is given to reactive methods based on local sensory data, with a special focus on recently proposed navigation laws based on model predictive and sliding mode control.

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Section: Multiple Vehicle Navigationmentioning

confidence: 99%

Algorithms for collision-free navigation of mobile robots in complex cluttered environments: a survey

2014

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“…Recently proposed solutions for self organization and self deployment of mobile WSNs ensure both coverage and connectivity in the network [11], [10]. Benhamed et al [5] proposed a new technique for self-organization in wireless sensor networks to ensure network robustness.…”

Section: Related Workmentioning

confidence: 99%

“…To limit the number of exchanged messages which can be transmitted either on rows or on columns [2], we opt for a square-based grid. Each cell of the grid will have a side size b = 2R s / √ 5 (R s is the sensing range) thus to ensure that the furthest nodes in two adjacent cells are at most separated by the communication range R c = 2R s [10].…”

Section: A Chain-based Relocation Approach In Wireless Sensor Nementioning

confidence: 99%

A Chain-Based Relocation Approach to Maintain Connectivity with a Center of Interest

Korbi

Zeadally

Jumira

2012

2012 IEEE 15th International Conference on Computational Science and Engineering

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Mobile nodes within Wireless Sensor Networks (WSNs) open up new challenges such as improved energy efficiency, coverage, target tracking, and fault tolerance. We propose a novel Chain-Based Relocation Approach (CBRA) to relocate mobile sensor nodes from their initial positions within a Region Of Interest (ROI) to cover a particular event happening outside the initial deployment zone called Center a Of Interest (COI). CBRA uses a grid quorum-based solution to propagate the redundant nodes present within the ROI. We propose an energybased redundant node selection procedure to ensure a balanced energy consumption among the redundant nodes regardless of the location of the redundant nodes with respect to the COI. We evaluate the performance of the CBRA solution using the WSNet simulator. Simulation results show that the network energy consumption and the relocation time increase as the distance separating the COI from the ROI increases. Moreover, the whole network energy consumption improves with the network density while the relocation time decreases with increasing speed of sensor nodes.

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“…To improve coverage and reduce the cost of deployment in a geographically-vast area, employing a network of mobile sensors for the coverage is an attractive option. Three types of coverage problems for sensor networks were defined by Gage [3]: blanket coverage [4], [5], [6], barrier coverage [7], [8], and sweep coverage [9], [10], [11]. In simple terms, the idea of blanket coverage is to deploy a network of sensing nodes to monitor a given region such that targets appearing in the region are detected.…”

Section: Introductionmentioning

confidence: 99%

An algorithm of decentralized encircling coverage and termination of a moving deformable region by mobile robotic sensor/actuator networks

Savkin

Nguyen

2013

2013 9th Asian Control Conference (ASCC)

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The paper introduces the problems of encircling coverage and termination of a moving a deformable planar region by a mobile sensor/actuator network. We propose a decentralized randomized algorithm for self-deployment of a network of mobile robotic sensors/actuators for these problems. In the encircling coverage problem, the aim is to deploy sensors around a bounded connected region so that any point of a certain neighbourhood of the region is sensed by at least one mobile robotic sensor. In the termination problem, the aim is to terminate a moving region that may represent an oil spill or a hazardous chemical field. In this case, the moving robots are equipped with not only sensors but with actuators releasing neutralizing chemical so that the shape of the polluted region is controlled. The proposed algorithm is based only on information about the closest neighbours of each sensor. The moving region is of an arbitrary shape and not known to the sensors a priori. We give mathematically rigorous proofs of asymptotic optimality and convergence with probability 1 of the proposed randomized algorithm.

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Decentralized control for mobile robotic sensor network self-deployment: barrier and sweep coverage problems

Cited by 79 publications

References 24 publications

Algorithms for collision-free navigation of mobile robots in complex cluttered environments: a survey

Algorithms for collision-free navigation of mobile robots in complex cluttered environments: a survey

A Chain-Based Relocation Approach to Maintain Connectivity with a Center of Interest

An algorithm of decentralized encircling coverage and termination of a moving deformable region by mobile robotic sensor/actuator networks

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