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Self-deployment of mobile robotic sensor networks for multilevel barrier coverage

Published online by Cambridge University Press:  08 August 2011

Teddy M. Cheng  and
Andrey V. Savkin
Teddy M. Cheng*
Affiliation:
School of Electrical Engineering and Telecommunications, The University of New South Wales, Sydney, Australia
Andrey V. Savkin
Affiliation:
School of Electrical Engineering and Telecommunications, The University of New South Wales, Sydney, Australia
*
*Corresponding author. E-mail: [email protected]
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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.

Keywords

Decentralized controlRobotic sensorsMobile sensor networksSensor deploymentBarrier coverage
Type
Articles
Information
Robotica , Volume 30 , Issue 4 , July 2012 , pp. 661 - 669
Copyright
Copyright © Cambridge University Press 2011

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