Robotica
- Robotica / Volume 30 / Issue 04 / July 2012, pp 661-669
- Copyright © Cambridge University Press 2011
- DOI: http://dx.doi.org/10.1017/S0263574711000877 (About DOI), Published online: 08 August 2011
Articles
Self-deployment of mobile robotic sensor networks for multilevel barrier coverage
Teddy M. Chenga1 c1 and Andrey V. Savkina1
a1 School of Electrical Engineering and Telecommunications, The University of New South Wales, Sydney, Australia
SUMMARY
We study a problem of K-barrier coverage by employing a network of self-deployed, autonomous mobile robotic sensors. A decentralized coordination algorithm is proposed for the robotic sensors to address the coverage problem. The algorithm is developed based on some simple rules that only rely on local information. By applying the algorithm to the robotic sensors, K layers of sensor barriers are formed to cover the region between two given points. To illustrate the proposed algorithm, numerical simulations are carried out for a number of scenarios.
(Accepted July 01 2011)
(Online publication August 08 2011)
KEYWORDS:
- Decentralized control;
- Robotic sensors;
- Mobile sensor networks;
- Sensor deployment;
- Barrier coverage
Correspondence:
c1 Corresponding author. E-mail: t.cheng@ieee.org
