Self-Organized Connectivity Control and Optimization Subjected to Dispersion of Mobile Ad Hoc Sensor Networks

Abstract

This paper addresses the problem of the connectivity control and the self-organized deployment/dispersion of a team of mobile ad hoc sensor nodes. First, to reduce redundant communication links while preserving global connectivity, a distributed link removal algorithm is developed that only requires local information of no more than two-hop neighbors. Secondly, for the purpose of preserving essential links while avoiding collisions, a combined piecewise-continuous motion controller is designed to regulate the motion of mobile sensors between two consecutive switches. The proposed hybrid control system can autonomously disperse a team of mobile sensors towards their final configuration with guaranteed connectivity and collision avoidance. Theoretical analysis and computer simulations have confirmed the efficiency and scalability of the proposed schemes.

Optimization of the Distribution and Localization of Wireless Sensor Networks Based on Differential Evolution Approach

“…There are some existing results in the literature that analyze the wireless sensors distribution in the threedimensional space such as in [21][22][23]. These scenarios analyze the distribution of the sensor networks under certain conditions that are not considered in this research work.…”

Holistic Connectivity Controller for Multirobot Dispersion

“…Note that any normalized nonnegative function can be treated as a weighting function. Nevertheless, to associate with the link quality, it is rather a natural choice that ( ) denotes received signal strength, which could be accurately measured with the aid of RSSI (received signal strength indication) at the radio interface of each agent [24]. Now, we have the following definitions.…”

“…To achieve the Objective A, we will need the DLRA algorithm [24]. In the following part, we give a brief introduction of DLRA and provide its applicability in the HCC and multirobot dispersion.…”

“…Moreover, none of these works have applied the connectivity control (topology control) methods multirobot dispersion. In our previous work [24], a self-organized connectivity control framework is designed with application to the dispersion of mobile ad hoc sensor networks we have solved the problem of redundant link reduction by means of only two-hop neighboring information, and the objective of connectivity preserving multiagent dispersion is effectively achieved. Nevertheless, to the best of our knowledge, none of the proposed multirobot dispersion methods takes the risk of agent failure into consideration.…”

“…HCC consists of two core structures. First, to illustrate the multirobot dispersion, we adopt the distributed link removal algorithm (DLRA) [24], which is able to remove redundant links in the multirobot network to facilitate the dispersion and only requires local information of no more than two-hop neighbors. Furthermore, considering the hazardous environment of most multi-agent applications and the sparse network structure caused by dispersion, we proposed the HCC to deal with connectivity restoration with consideration of concurrent failure of multiple agents during the dispersion of the MRS, and a connectivity restoration strategy is proposed to restore the network connectivity whenever a single or multiple robots fail.…”