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Robotic sensor network (RSN) contains mobile sensors and robots provides feasible solution for many multiagent applications. One of the most critical issues in RSN and its application is how to effectively assign tasks. This paper presents a novel threshold-based task allocation strategy to answer the question particularly for RSN. Firstly, we model the task allocation in RSN to distinguish the discovering...
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...
With the development of the multi-robot coordination, the working efficiency of the multi-robot system is improved, and the tasks can be finished better. Multi-robot coordination is one of the important issues for the research of mobile robot. The research of formation control of multi-robot will improve the efficiency of the coordination of multi-robot. So the problem of multi-robot formation is...
Distributed and efficiently allocating tasks to networked robots in dynamic environment pose challenge in both theory and application in robotics. A fundamental issue here is how to reallocate tasks during task execution. In this paper, by integrating a high-level market-based algorithm with a low-level mobile ad-hoc network communication structure, we propose a new cooperation architecture named...
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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