Abstract
We consider multi-robot systems that include sensor nodes and aerial or ground robots networked together. Such networks are suitable for tasks such as large-scale environmental monitoring or for command and control in emergency situations. We present a sensor network deployment method using autonomous aerial vehicles and describe in detail the algorithms used for deployment and for measuring network connectivity and provide experimental data collected from field trials. A particular focus is on determining gaps in connectivity of the deployed network and generating a plan for repair, to complete the connectivity. This project is the result of a collaboration between three robotics labs (CSIRO, USC, and Dartmouth.)
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© 2006 Springer-Verlag Berlin Heidelberg
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Corke, P., Hrabar, S., Peterson, R., Rus, D., Saripalli, S., Sukhatme, G. (2006). Deployment and Connectivity Repair of a Sensor Net with a Flying Robot. In: Ang, M.H., Khatib, O. (eds) Experimental Robotics IX. Springer Tracts in Advanced Robotics, vol 21. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11552246_32
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DOI: https://doi.org/10.1007/11552246_32
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Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-28816-9
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