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MWSN is an emerging area of research and most of the work in the field of MWSN is done at the simulation level as there is hardly any cost effective hardware platform(node/mote) available for MWSN applications. To handle mobility, the MWSN node should be much more efficient than the nodes in static WSN. Moreover, a MWSN node should be capable of handling real time mobility control, path planning and...
A swarm is a decentralized and self-organized collective with lots of simple but autonomous and homogeneous individuals. Swarm intelligence is defined to describe its emergent behaviors. Both sensor networks and mobile multi-robots can have swarm features. The combination and cooperation of these two systems is a tendency recently. From the view of swarm organisms, the challenges of combination of...
To solve the multi-robot task allocation (MRTA) especially in unknown complex environment, a novel dynamic algorithm was put forward with the advantages of wireless sensor network (WSN). With a powerful abstraction, a formal way of task representation was developed integrating four types of tasks. The architecture and sensor fusion of WSN were discussed. Ant colony optimization (ACO) algorithm based...
To solve the multi-robot task allocation (MRTA) especially in unknown complex environment, a novel dynamic algorithm was put forward with the advantages of wireless sensor network (WSN). The architecture and sensor fusion of WSN were discussed. Particle swarm optimization (PSO) algorithm based on bionic swarm intelligence was used for solution of the multi-objective optimization. A practical implementation...
Utilizing the advantages of wireless sensor network, sensor fusion for building occupancy grid map using probabilistic sensor model and ant colony algorithm using bionic swarm intelligence, an online real-time path planning algorithm for mobile nodes under unknown dynamic environment is proposed through three level planning control strategy. A practical implementation has been carried out to demonstrate...
This paper describes a distributed layered architecture for resource-constrained multirobot cooperation, which is utilized in autonomic mobile sensor network coverage. In the upper layer, a dynamic task allocation scheme self-organizes the robot coalitions to track efficiently across regions. It uses concepts of ant behavior to self-regulate the regional distributions of robots in proportion to that...
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