Consider n sensors placed randomly and independently with the uniform distribution in a d−dimensional unit cube (d ≥ 2). The sensors have identical sensing range equal to r, for some r > 0. We are interested in moving the sensors from their initial positions to new positions so as to ensure that the d−dimensional unit cube is completely covered, i.e., every point in the d−dimensional cube is within the range of a sensor. If the i-th sensor is displaced a distance d i , what is a displacement of minimum cost? As cost measure for the displacement of the team of sensors we consider the a-total movement defined as the sum, for some constant a > 0. We assume that r and n are chosen so as to allow full coverage of the d−dimensional unit cube and a > 0.The main contribution of the paper is to show the existence of a tradeoff between the d−dimensional cube, sensing radius and a-total movement. The main results can be summarized as follows for the case of the d−dimensional cube.
If the d−dimensional cube sensing radius is