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This paper studies mobility strategies to control positions of mobile robots in a mobile sensor network in order to maximize lifetime of the network. With communication and mobility energy costs modeled, the problem is formulated into a nonlinear non-convex optimization problem, then reformulated into a convex optimization problem. The separable property of the system is then exploited by Lagrangian...
The use of mobile nodes within a wireless sensor network are an asset since they can considerably extend the lifetime of that network. In order for mobile sensor nodes to be effective in most cases, their position must be known. Dead reckoning (DR) is a simple location method that is well suited to complexity constrained sensor nodes. The contribution of this paper is to present a Gaussian model for...
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...
Neighbor-Every-Theta (NET) graphs are such that each node has at least one neighbor in every theta angle sector of its communication range. We show that for thetas < pi, NET graphs are guaranteed to have an edge-connectivity of at least floor (2pi)/thetas, even with an irregular communication range. Our main contribution is to show how this family of graphs can achieve tunable topology control...
For a set of mobile sensor network, a precise localization is required in order to maximize the utilization of mobile sensor network. As well, mobile robots also need a precise localization mechanism for the same reason. In this paper, we showed a combination of various localization mechanisms. Localization can be classified in three big categories: long distance localization with low accuracy, medium...
People are paying more and more attention to mobile sensor network now. Establishment of its model is conducive to in-depth analysis of the system. Based on the located information and graph theory, a distributed sensor network model is introduced. Delaunay triangulation used to describe nodes and the relationship between them and their transmission and fusion of information between nodes. And the...
Based on the located information and graph theory, a distributed sensor network model is introduced. The relationship between data transmission and fusion between nodes are described with Delaunay triangulation. And Voronoi diagrams have been used in the description of coverage region of nodes. With the model, disadvantages of existing located system based on a fixed infrastructure could be overcome.
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