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Proceedings Paper

Peer-to-peer model for the area coverage and cooperative control of mobile sensor networks
Author(s): Jindong Tan; Ning Xi
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Paper Abstract

This paper presents a novel model and distributed algorithms for the cooperation and redeployment of mobile sensor networks. A mobile sensor network composes of a collection of wireless connected mobile robots equipped with a variety of sensors. In such a sensor network, each mobile node has sensing, computation, communication, and locomotion capabilities. The locomotion ability enhances the autonomous deployment of the system. The system can be rapidly deployed to hostile environment, inaccessible terrains or disaster relief operations. The mobile sensor network is essentially a cooperative multiple robot system. This paper first presents a peer-to-peer model to define the relationship between neighboring communicating robots. Delaunay Triangulation and Voronoi diagrams are used to define the geometrical relationship between sensor nodes. This distributed model allows formal analysis for the fusion of spatio-temporal sensory information of the network. Based on the distributed model, this paper discusses a fault tolerant algorithm for autonomous self-deployment of the mobile robots. The algorithm considers the environment constraints, the presence of obstacles and the nonholonomic constraints of the robots. The distributed algorithm enables the system to reconfigure itself such that the area covered by the system can be enlarged. Simulation results have shown the effectiveness of the distributed model and deployment algorithms.

Paper Details

Date Published: 15 September 2004
PDF: 12 pages
Proc. SPIE 5403, Sensors, and Command, Control, Communications, and Intelligence (C3I) Technologies for Homeland Security and Homeland Defense III, (15 September 2004); doi: 10.1117/12.541023
Show Author Affiliations
Jindong Tan, Michigan Technological Univ. (United States)
Ning Xi, Michigan State Univ. (United States)


Published in SPIE Proceedings Vol. 5403:
Sensors, and Command, Control, Communications, and Intelligence (C3I) Technologies for Homeland Security and Homeland Defense III
Edward M. Carapezza, Editor(s)

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