Grid-based sensor deployment is an effective and efficient practice for provisioning wireless sensor networks. Previous work has addressed grid-based deployment of sensors in order to guarantee sensing coverage under the assumption that each device can be placed exactly at the grid vertices. However, in reality, the accuracy of device placement may be subject to various errors, which are shown to impair the sensing coverage. To overcome the negative impacts of these errors, the grid resolution and the number of devices to be deployed should be re-evaluated. In this paper, two deployment errors are identified, namely, misalignment and random errors. We derive the minimum number of sensors required by a robust grid-based sensor deployment assuming that the errors are bounded. This research shows that when designing a realistic large-scale grid-based sensor deployment, errors in device placement must be taken into account.
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