A simple asymptotically optimal randomized algorithm for decentralized blanket coverage self-deployment of mobile robotic sensor networks

Nearest Neighbour Node Deployment Algorithm for Mobile Sensor Networks

“…In a network, mobile sensor nodes can emulate the individual particle behaviour observed in a collective movement to navigate within the network. A distinguishing feature of mobile nodes is their dynamic decoupling, meaning the movement of one individual node does not directly affect its neighbouring nodes [ 15 , 21 , 22 , 23 ]. This characteristic allows for the possibility of creating collective movement among mobile sensor nodes within a network, based on the nearest neighbour rule.…”

“…By employing the nearest neighbour rule, the collective movement within the network can converge all the mobile sensor nodes and guide them along the same trajectory based on their initial headings. The concept of convergence in mobile nodes over a period of time is stated in [ 22 ], while also considering limitations on the heading angles in some specific scenarios. Furthermore, the impact of introducing a static leader into a group of mobile sensor nodes and how the sensor nodes’ characteristics are aligned with the leader’s characteristics, are discussed in [ 17 ].…”

“…Building upon the findings presented in [ 15 , 20 , 21 , 23 , 25 , 26 ], a novel algorithm, which we refer to as Cheng algorithm, is presented in [ 22 ] to tackle the blanket coverage problem within mobile sensor networks. This algorithm utilises the nearest neighbour rule to guarantee the convergence of sensor nodes towards their respective assigned leaders within the group.…”

“…Later, the coverage problem has been extended to barrier coverage and sweep coverage in corridor environment [ 20 , 27 ]. The decentralised control laws used in [ 20 , 27 , 28 ] are adopted to provide blanket coverage, full coverage of an area, in [ 21 , 23 ] and finally [ 22 ]. By employing the nearest neighbour rule, the sensor nodes converge towards the assigned static leader’s characteristics, while a control law restricts their movements within the defined boundaries.…”

“…Although Cheng algorithm [ 21 , 22 ] provides full blanket coverage with no conflict between sensor nodes, it introduces a deterministic approach by establishing a singular stream of sensor motion to provide blanket coverage as the sensors are guided by one leader. It is important to note that this single-stream movement presents a potential single point of failure, as the entire system relies on the performance of a single leader.…”