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Decentralized control for mobile robotic sensor network self-deployment: barrier and sweep coverage problems

Published online by Cambridge University Press:  16 April 2010

Teddy M. Cheng  and
Andrey V. Savkin
Teddy M. Cheng*
Affiliation:
School of Electrical Engineering and Telecommunications, the University of New South Wales, Sydney NSW 2052, 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
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Summary

This paper addresses the problems of barrier coverage and sweep coverage in a corridor environment with a network of self-deployed mobile autonomous robotic sensors. Using the ideas of nearest neighbor rules and information consensus, we propose a decentralized control law for the robotic sensors to solve the coverage problems. Numerical simulations illustrate the effectiveness of the proposed algorithm. The results in this paper demonstrate that such simple motion coordination rules can play a significant role in addressing the issue of coverage in a mobile robotic sensor network.

Keywords

Mobile robotic sensor networksRobotic sensor deploymentBarrier coverageSweep coverage
Type
Article
Information
Robotica , Volume 29 , Issue 2 , March 2011 , pp. 283 - 294
Copyright
Copyright © Cambridge University Press 2010

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