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We study a problem of K-barrier coverage by employing a network of self-deployed, autonomous mobile robotic sensors. A distributed motion coordination algorithm is proposed for the mobile robotic sensors to address the coverage problem. The algorithm is theoretically developed based on some simple consensus algorithms that only rely on local information. By applying the algorithm to the sensors, K...
This paper presents a distributed control algorithm for mobile nodes cooperating so as to dynamically reconfigure themselves to maintain reliable end-to-end communication links. A Delaunay trianglation based network model is proposed for describing the multi-robot system. The improved adjacency matrix is adopted to denote connection relationship of the one-hop neighboring nodes. Inspired by potential...
Coverage is an important issue in a sensor network. In this paper, we consider a problem of barrier coverage between two landmarks using a network of self-deployed mobile sensors. We propose a decentralized motion coordination algorithm for the mobile sensors so that they form a sensor barrier between two given landmarks autonomously. The algorithm is theoretically developed using some simple rules...
Target tracking is an important task in sensor networks, especially in mobile sensor networks. Flocking control is used to control a mobile sensor network to track a target. However, there are some existing problems in this control method, such as network fragmentation, loss of formation and poor tracking performance. In order to handle these problems we propose a novel approach to flocking control...
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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