Hostname: page-component-76fb5796d-skm99 Total loading time: 0 Render date: 2024-04-26T01:31:40.362Z Has data issue: false hasContentIssue false
  • English
  • Français

Self-deployment of mobile robotic sensor networks for multilevel barrier coverage

Published online by Cambridge University Press:  08 August 2011

Teddy M. Cheng  and
Andrey V. Savkin
Teddy M. Cheng*
Affiliation:
School of Electrical Engineering and Telecommunications, The University of New South Wales, Sydney, Australia
Andrey V. Savkin
Affiliation:
School of Electrical Engineering and Telecommunications, The University of New South Wales, Sydney, Australia
*
*Corresponding author. E-mail: t.cheng@ieee.org
Get access Rights & Permissions [Opens in a new window]

Summary

We study a problem of K-barrier coverage by employing a network of self-deployed, autonomous mobile robotic sensors. A decentralized coordination algorithm is proposed for the robotic sensors to address the coverage problem. The algorithm is developed based on some simple rules that only rely on local information. By applying the algorithm to the robotic sensors, K layers of sensor barriers are formed to cover the region between two given points. To illustrate the proposed algorithm, numerical simulations are carried out for a number of scenarios.

Keywords

Decentralized controlRobotic sensorsMobile sensor networksSensor deploymentBarrier coverage
Type
Articles
Information
Robotica , Volume 30 , Issue 4 , July 2012 , pp. 661 - 669
Copyright
Copyright © Cambridge University Press 2011

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Bullo, F., Cortés, J. and Martínez, S., Distributed Control of Robotic Networks, Applied Mathematics Series (Princeton University Press, Princeton, New Jersey, 2009).CrossRefGoogle Scholar
2.Cheng, T. M. and Savkin, A. V., “A distributed self-deployment algorithm for the coverage of mobile wireless sensor networks,” IEEE Commun. Lett. 13 (11), 877–879 (2009).CrossRefGoogle Scholar
3.Choset, H., “Coverage for robotics – A survey of recent results,” Ann. Math. Artif. Intell. 31 (1–4), 113–126 (2001).CrossRefGoogle Scholar
4.Cortes, J., Martinez, S., Karatas, T. and Bullo, F., “Coverage control for mobile sensing networks,” IEEE Trans. Robot. Autom. 20 (2), 243–255 (2004).CrossRefGoogle Scholar
5.Das, A. K., Fierro, R., Kumar, V., Ostrowski, J. P., Spletzer, J. and Taylor, C. J., “A vision-based formation control framework,” IEEE Trans. Robot. Autom. 18, 813–825 (2002).CrossRefGoogle Scholar
6.Gage, D. W., “Command Control for Many-Robot Systems,” Proceedings of the 19th Annual AUVS Technical Symposium, Hunstville, AL (1992) vol. 4, pp. 22–24.Google Scholar
7.Garcia, E. and De Santos, P. G., “Mobile-robot navigation with complete coverage of unstructured environments,” Robot. Auton. Syst. 46 (4)195–204 (2004).CrossRefGoogle Scholar
8.Gazi, V. and Fidan, B., “Coordination and control of multi-agent dynamic systems: Models and approaches,” In: Swarms Robotics, Lecture Notes in Computer Science (Springer, Berlin, 2007) pp. 71–102.CrossRefGoogle Scholar
9.Ghosh, A. and Das, S. K., “Coverage and connectivity issues in wireless sensor networks: A survey,” Pervasive Mobile Comput. 4 (3)303–334 (2008).CrossRefGoogle Scholar
10.Jadbabaie, A., Lin, J. and Morse, A. S., “Coordination of groups of mobile autonomous agents using nearest neighbor rules,” IEEE Trans. Autom. Control 48 (6), 988–1001 (2003).CrossRefGoogle Scholar
11.Killough, S. M. and Pin, F. G., “A new family of omnidirectional and holonomic wheel platforms for mobile robots,” IEEE Trans. Robot. Autom. 10 (4), 480–489 (1994).Google Scholar
12.Kloder, S. and Hutchinson, S., “Barrier Coverage for Variable Bounded-Range Line-of-sight Guards,” Proceedings of the IEEE International Conference on Robotics and Automation (Roma, Italy, 2007) pp. 391–396.CrossRefGoogle Scholar
13.Kumar, S., Lai, T. H. and Arora, A., “Barrier coverage with wireless sensors,” Wirel. Netw. 13 (6)817–834 (2007).CrossRefGoogle Scholar
14.Liu, B. and Towsley, D., “A Study of the Coverage of Large-Scale Sensor Networks,” IEEE International Conference on Mobile Ad-Hoc and Sensor Systems (Fort Lauderdale, FL, 2004) pp. 475–483.Google Scholar
15.Matveev, A. S. and Savkin, A. V., Estimation and Control over Communication Networks (Birkhäuser, Boston, 2009).Google Scholar
16.Meyer, C. D., Matrix Analysis and Applied Linear Algebra (SIAM, Philadelphia, PA, 2000).CrossRefGoogle Scholar
17.Pathirana, P. N., Bulusu, N., Savkin, A. V. and Jha, S., “Node localization using mobile robots in delay-tolerant sensor networks,” IEEE Trans. Mobile Comput. 4 (3)285–296 (2005).CrossRefGoogle Scholar
18.Pathirana, P. N., Savkin, A. V. and Jha, S., “Location estimation and trajectory prediction for cellular networks with mobile base stations,” IEEE Trans Veh. Technol. 53 (6), 1903–1913 (2004).CrossRefGoogle Scholar
19.Pettersen, K. Y., Gravdahl, J. T., and Nijmeijer, H., eds. Group Coordination and Cooperative Control, Lecture Notes in Control and Information Sciences (Springer, London, 2006).CrossRefGoogle Scholar
20.Ren, W. and Beard, R. W., Distributed Consensus in Multi-Vehicle Cooperative Control (Springer, London, 2008).CrossRefGoogle Scholar
21.Savkin, A. V., “Coordinated collective motion of groups of autonomous mobile robots: Analysis of Vicsek's model,” IEEE Trans. Autom. Control 49 (6), 981–983 (2004).CrossRefGoogle Scholar
22.Savkin, A. V., “Analysis and synthesis of networked control systems: Topological entropy, observability, robustness, and optimal control,” Automatica 42 (1), 51–62 (2006).CrossRefGoogle Scholar
23.Savkin, A. V. and Cheng, T. M., “Detectability and output feedback stabilizability of nonlinear networked control systems,” IEEE Trans. Autom. Control 52 (4), 730–735 (2007).CrossRefGoogle Scholar
24.Tanner, H. G. and Christodoulakis, D. K., “Decentralized cooperative control of heterogeneous vehicle groups,” Robot. Auton. Syst. 55 (11), 811–823 (2007).CrossRefGoogle Scholar
25.Wang, W., Srinivasan, V. and Chua, K., “Coverage in hybrid mobile sensor networks,” IEEE Trans. Mobile Comput. 7 (11), 1374–1387 (2008).CrossRefGoogle Scholar
26.Wu, Z., Guan, Z., Wu, X. and Li, T., “Consensus based formation control and trajectory tracing of multi-agent robot systems,” J. Intell. Robot. Syst. 48 (3), 397–410 (2007).CrossRefGoogle Scholar