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In this paper, we are interested in a single robot detecting intrusions in a rectangular perimeter. We built a stochastic model analyzing the detection quality achieved by the single moving robot moving along the rectangular perimeter, based on the velocity, mobility pattern. We define the mode of intrusion events as follows: intrusions arrive at random point at the rectangular perimeter, and stay...
Formation control is essential for an underwater mobile sensing network (UMSN), an ad hoc network which wirelessly connects underwater vehicles of sensing and/or observing types via acoustic communications, to fulfill mobile sensing tasks. The problem of formation control for an UMSN with varying topology is studied in this paper. The methodology of synthesizing distributed formation controller which...
The accurate localization of sensor nodes in a mobile robotic sensor network is important in many surveillance applications. Based on our previous work in sensor localization, this paper introduces a mobility assisted localization approach guided by network rigidity for mobile robotic sensor networks. The rigidity test of a network is based on a pebble game algorithm, that decides whether the network...
There exist several application scenarios of mobile ad hoc networks (MANET) in which the nodes need to locate a target or surround it. Severe resource constraints in MANETs call for energy efficient target localization and collaborative navigation. Centralized control of MANET nodes is not an attractive solution due to its high network utilization that can result in congestions and delays. In nature,...
This paper introduces a design for mobile node of sensor networks using robot. The robot is composed of micro processor module based on AT91RM9200, Bluetooth module, wireless network card (SISCO AIR-PCM350), GPS module, mobile base and motionless Bluetooth sensor node distributing module. Embedded arm-linux OS installed on micro processor module based on AT91RM9200 makes it have the ability of processing...
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