Optimal Distributed Blanket Coverage Self-Deployment of Mobile Wireless Sensor Networks

Savkin, Andrey V.; Javed, Faizan; Matveev, Alexey S.

doi:10.1109/lcomm.2012.040912.110932

Cited by 52 publications

(72 citation statements)

References 6 publications

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“…To improve coverage and reduce the cost of deployment in a geographically vast area, employing a network of mobile sensors for the coverage is an attractive option. Three types of coverage problems for robotics were studied in recent years: blanket coverage, 238 barrier coverage, 46,47 and sweep coverage. 46,48 Combining existing coverage algorithms with effective collision avoidance methods is an open practically important problem.…”

Section: Multiple Vehicle Navigationmentioning

confidence: 99%

Algorithms for collision-free navigation of mobile robots in complex cluttered environments: a survey

2014

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SUMMARYWe review a range of techniques related to navigation of unmanned vehicles through unknown environments with obstacles, especially those that rigorously ensure collision avoidance (given certain assumptions about the system). This topic continues to be an active area of research, and we highlight some directions in which available approaches may be improved. The paper discusses models of the sensors and vehicle kinematics, assumptions about the environment, and performance criteria. Methods applicable to stationary obstacles, moving obstacles and multiple vehicles scenarios are all reviewed. In preference to global approaches based on full knowledge of the environment, particular attention is given to reactive methods based on local sensory data, with a special focus on recently proposed navigation laws based on model predictive and sliding mode control.

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Section: Multiple Vehicle Navigationmentioning

confidence: 99%

Algorithms for collision-free navigation of mobile robots in complex cluttered environments: a survey

2014

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“…From the 31th step, the algorithm (6) was applied to obtain a complete blanket coverage. Within each step, (3), (4) are applied followed by (6). Fig.…”

Section: Computer Simulation Resultsmentioning

confidence: 99%

“…To improve coverage and reduce the cost of deployment in a geographically-vast area, employing a network of mobile sensors for the coverage is an attractive option. Three types of coverage problems for sensor networks were defined by Gage [3]: blanket coverage [4], [5], [6], barrier coverage [7], [8], and sweep coverage [9], [10], [11]. In simple terms, the idea of blanket coverage is to deploy a network of sensing nodes to monitor a given region such that targets appearing in the region are detected.…”

Section: Introductionmentioning

confidence: 99%

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

Savkin

Nguyen

2013

2013 9th Asian Control Conference (ASCC)

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The paper introduces the problems of encircling coverage and termination of a moving a deformable planar region by a mobile sensor/actuator network. We propose a decentralized randomized algorithm for self-deployment of a network of mobile robotic sensors/actuators for these problems. In the encircling coverage problem, the aim is to deploy sensors around a bounded connected region so that any point of a certain neighbourhood of the region is sensed by at least one mobile robotic sensor. In the termination problem, the aim is to terminate a moving region that may represent an oil spill or a hazardous chemical field. In this case, the moving robots are equipped with not only sensors but with actuators releasing neutralizing chemical so that the shape of the polluted region is controlled. The proposed algorithm is based only on information about the closest neighbours of each sensor. The moving region is of an arbitrary shape and not known to the sensors a priori. We give mathematically rigorous proofs of asymptotic optimality and convergence with probability 1 of the proposed randomized algorithm.

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“…This fact motivated Renzaglia et al (2009) to extend the aforementioned scheme via incorporation of an attractive force to the centroid of the respective Voronoi cell. In Savkin, Javed, and Matveev (2012) a distributed blanket coverage algorithm is presented that can be applied in both convex and concave environments. Although the algorithm has low computational cost, since Voronoi partitioning is not required, it is not flexible, since the nodes are allowed to be placed only in specific, discrete positions.…”

Section: Euclidean/geodesic Sensing Footprintmentioning

confidence: 99%

Distributed coverage control for concave areas by a heterogeneous Robot–Swarm with visibility sensing constraints

2015

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Optimal Distributed Blanket Coverage Self-Deployment of Mobile Wireless Sensor Networks

Cited by 52 publications

References 6 publications

Algorithms for collision-free navigation of mobile robots in complex cluttered environments: a survey

Algorithms for collision-free navigation of mobile robots in complex cluttered environments: a survey

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

Distributed coverage control for concave areas by a heterogeneous Robot–Swarm with visibility sensing constraints

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