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2010
IEEE

Back-Tracking Based Sensor Deployment by a Robot Team

11 years 3 months ago
Back-Tracking Based Sensor Deployment by a Robot Team
Existing solutions to carrier-based sensor placement by a single robot, in a bounded unknown region of interest (ROI), do not guarantee full area coverage and/or do not terminate. We propose a novel localized algorithm, named Back-Tracking Deployment (BTD). To construct a full coverage solution over the ROI, mobile robots (carriers) carry static sensors as payload and drop them at visited empty vertices of a virtual square, triangular or hexagonal grid. A Single robot will move forward along the virtual grid in open directions with respect to a predefined order of preference until a dead end is reached. Then it back-tracks to the nearest sensor adjacent to an empty vertex on its backward path (it is an `entrance' to an unexplored/uncovered area). The robot resumes regular forward moving and sensor dropping from there. To save movement steps, the back tracking is performed along a locally identified shortcut. We extend the algorithm to support multiple robots that move independentl...
Greg Fletcher, Xu Li, Amiya Nayak, Ivan Stojmenovi
Added 14 Feb 2011
Updated 14 Feb 2011
Type Journal
Year 2010
Where SECON
Authors Greg Fletcher, Xu Li, Amiya Nayak, Ivan Stojmenovic
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