An algorithm of decentralized encircling coverage and termination of a moving deformable region by mobile robotic sensor/actuator networks

Savkin, Andrey V.; Xi, Zhiyu; Nguyen, Hung T.

doi:10.1109/ascc.2013.6606103

Cited by 5 publications

(14 citation statements)

References 24 publications

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“…The event region is neither determined nor factored in the sensor reporting, and the interactor coordination does not ensure event coverage. Therefore, we have also chosen to compare SACHS with the Savkin et alprotocol [18]. Savkin et al developed a distributed algorithm to deploy mobile nodes over triangular lattice that spans the entire event region.…”

Section: A Simualtion Environment and Performance Metricsmentioning

confidence: 99%

Effective handling of spreading events using wireless sensor and actuator networks

Lalouani¹,

Younis

Bagaa

et al. 2014

2014 International Wireless Communications and Mobile Computing Conference (IWCMC)

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Wireless sensors and actors networks (WSANs) have the capacity for not only monitoring some phenomena through sensor nodes but also performing appropriate actions. Most of the contemporary WSAN management solutions focus on defining communication path among sensors and actors and on tasking appropriate actors to handle the detected events. In this paper we classify events based on how they evolve over time into continuous and discrete and categorize the WSAN management strategies accordingly. Unlike discrete events, a continuous event spreads quickly and becomes more serious as time passes. Such a characteristic introduces more challenges and motivates a nonconventional management strategies. This paper presents an approach for Sensor-Actuator Coordination for Handling Spreading events (SACHS). SACHS opts to enable the network to respond quickly in order to avoid the event from growing in scope, e.g., prevent a fire from spreading, while reducing the energy overhead due to the coordination messages and due to actor's relocation to the event region. SACHS limits sensor-actor and actor-actor interactions and exploits local sensor-sensor communication to determine the scope of the event, define spots for actors to position at, and schedule the actors' response. The simulation results confirm the performance advantage of SACHS compared to competing schemes.

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Section: A Simualtion Environment and Performance Metricsmentioning

confidence: 99%

Effective handling of spreading events using wireless sensor and actuator networks

Lalouani¹,

Younis

Bagaa

et al. 2014

2014 International Wireless Communications and Mobile Computing Conference (IWCMC)

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“…Gage [22] has classified the coverage problem mainly into three configurations Blanket, Barrier and Sweep Coverage. But coverage can be of different types, like in [14], an encircling coverage has been introduced. So, we classify the below mentioned coverage problems on the basis of an objective to be achieved.…”

Section: Classification Of Coverage Control Problemsmentioning

confidence: 99%

“…The MAS-net project has also been considered in encircling coverage and termination of a moving deformable region [14]. This algorithm is partially inspired from the well-known Hannibal double envelopment manoeuvre during the Battle of Cannae [302].…”

Section: Mobile Actuator and Sensor Networkmentioning

confidence: 99%

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Distributed Navigation of Multi-Robot Systems For Sensing Coverage

Ahmad

2016

Preprint

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The decentralized control of mobile robots can also exhibit a cyclic behaviour under some physical constraints like a quantized orientation of mobile robot. We further investigate the cyclic behaviour appearing due to the quantized control of mobile robots under some conditions. Our nearest neighbour rule based approach offers a biased strategy in case of cyclic behaviour appearing in the team of mobile robots.We consider a clustering technique inside the team of mobile robots. Our decentralized control strategy calculates the similarity measure among the neighbours of a mobile robot. The team of mobile robots with the similarity measure based approach becomes efficient in achieving a fast consensus like on heading angle or velocity. We perform a rigorous mathematical analysis of our developed approach.We also develop a condition based on relaxed criteria for achieving consensus on velocity or heading angle of the mobile robots. Our validation approach is based on mathematical arguments and extensive computer simulations.

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“…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.…”

Section: Introductionmentioning

confidence: 99%

Nearest Neighbour Node Deployment Algorithm for Mobile Sensor Networks

Ghahroudi,

Shahrabi,

Boutaleb

2023

Sensors

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Many animal aggregations display remarkable collective coordinated movements on a large scale, which emerge as a result of distributed local decision-making by individuals. The recent advances in modelling the collective motion of animals through the utilisation of Nearest Neighbour rules, without the need for centralised coordination, resulted in the development of self-deployment algorithms in Mobile Sensor Networks (MSNs) to achieve various types of coverage essential for different applications. However, the energy consumption associated with sensor movement to achieve the desired coverage remains a significant concern for the majority of algorithms reported in the literature. In this paper, the Nearest Neighbour Node Deployment (NNND) algorithm is proposed to efficiently provide blanket coverage across a given area while minimising energy consumption and enhancing fault tolerance. In contrast to other algorithms that sequentially move sensors, NNND leverages the power of parallelism by employing multiple streams of sensor motions, each directed towards a distinct section of the area. The cohesion of each stream is maintained by adaptively choosing a leader for each stream while collision avoidance is also ensured. These properties contribute to minimising the travel distance within each stream, resulting in decreased energy consumption. Additionally, the utilisation of multiple leaders in NNND eliminates the presence of a single point of failure, hence enhancing the fault tolerance of the area coverage. The results of our extensive simulation study demonstrate that NNND not only achieves lower energy consumption but also a higher percentage of k-coverage.

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An algorithm of decentralized encircling coverage and termination of a moving deformable region by mobile robotic sensor/actuator networks

Cited by 5 publications

References 24 publications

Effective handling of spreading events using wireless sensor and actuator networks

Effective handling of spreading events using wireless sensor and actuator networks

Distributed Navigation of Multi-Robot Systems For Sensing Coverage

Nearest Neighbour Node Deployment Algorithm for Mobile Sensor Networks

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