2011
DOI: 10.1002/rob.20384
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Robotic data mules for collecting data over sparse sensor fields

Abstract: We present a robotic system for collecting data from wireless devices dispersed across a large environment. In such applications, deploying a network of stationary wireless sensors may be infeasible because many relay nodes must be deployed to ensure connectivity. Instead, our system utilizes robots which act as data mules and gather the data from wireless sensor network nodes.We address the problem of planning paths of multiple robots so as to collect the data from all sensors in the least amount of time. In … Show more

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Cited by 90 publications
(43 citation statements)
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“…A popular feature to optimize is the energy efficiency of the mobile agent deployments [4], [5], [9], [10], [14]. Another feature to optimize for sparse networks is data latency reduction [3], [8], [11], [15].…”
Section: Related Workmentioning
confidence: 99%
“…A popular feature to optimize is the energy efficiency of the mobile agent deployments [4], [5], [9], [10], [14]. Another feature to optimize for sparse networks is data latency reduction [3], [8], [11], [15].…”
Section: Related Workmentioning
confidence: 99%
“…To address issues of data collection latency and network lifetime simultaneously, authors formulate a new problem; called EM-TSP to find mules traversal paths to visit each subnetwork in at least one landing port such that the energy consumption of sensors is bounded and the traversal path lengths of mules are minimized. [16] Present a robotic system for collecting data from wireless devices dispersed across a large environment. They address the problem of planning paths of robotic mules referred to as Gathering Problem (DGP) in order to collect the data from all sensors in the least amount of time.…”
Section: State Of Artmentioning
confidence: 99%
“…Related problems have been studied in the context of robotic data mules. Bhadauria and Isler derived approximation algorithms for multiple data mules that must traverse a sensor field and download data [14]. In their work, downloading time is considered as part of the tour, and the communication radii are assumed to be uniform, fixed, and deterministic (i.e., data from a sensor is known to be accessible at a given location).…”
Section: Related Workmentioning
confidence: 99%