Controlling sensor density using mobility

We present a distributed deployment algorithm for a mobile sensor network which is able to deploy sensor nodes in a distribution proportional to a scalar field. The algorithm randomly partitions space into sufficiently small neighborhoods at each iteration. Within each neighborhood a redistribution process directed by a cluster head is enacted. We prove that after sufficiently many iterations, the distribution of nodes approaches the desired profile in the overall region. The algorithm is scalable to large network sizes, and is not restricted to planar domains. We show experimentally that the algorithm is noise tolerant.

[1]  N. Gordon,et al.  Novel approach to nonlinear/non-Gaussian Bayesian state estimation , 1993 .

[2]  Wolfram Burgard,et al.  Monte Carlo localization for mobile robots , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[3]  Wendi Heinzelman,et al.  Energy-efficient communication protocol for wireless microsensor networks , 2000, Proceedings of the 33rd Annual Hawaii International Conference on System Sciences.

[4]  Deborah Estrin,et al.  Scalable Coordination for Wireless Sensor Networks: Self-Configuring Localization Systems , 2001 .

[5]  Miodrag Potkonjak,et al.  Coverage problems in wireless ad-hoc sensor networks , 2001, Proceedings IEEE INFOCOM 2001. Conference on Computer Communications. Twentieth Annual Joint Conference of the IEEE Computer and Communications Society (Cat. No.01CH37213).

[6]  Parameswaran Ramanathan,et al.  Sensor deployment strategy for target detection , 2002, WSNA '02.

[7]  Andrew Howard.  Mezzanine User Manual , 2002 .

[8]  Gaurav S. Sukhatme,et al.  Mobile Sensor Network Deployment using Potential Fields : A Distributed , Scalable Solution to the Area Coverage Problem , 2002 .

[9]  S. Sitharama Iyengar,et al.  Sensor placement for grid coverage under imprecise detections , 2002, Proceedings of the Fifth International Conference on Information Fusion. FUSION 2002. (IEEE Cat.No.02EX5997).

[10]  Gaurav S. Sukhatme,et al.  An Incremental Self-Deployment Algorithm for Mobile Sensor Networks , 2002, Auton. Robots.

[11]  Andrew Howard,et al.  Mezzanine User Manual, Version 0.00 , 2002 .

[12]  Krishnendu Chakrabarty,et al.  Sensor deployment and target localization in distributed sensor networks , 2004, TECS.

[13]  Gaurav S. Sukhatme,et al.  Autonomous deployment and repair of a sensor network using an unmanned aerial vehicle , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[14]  Michael Isard,et al.  CONDENSATION—Conditional Density Propagation for Visual Tracking , 1998, International Journal of Computer Vision.

[15]  Gaurav S. Sukhatme,et al.  Call and response: experiments in sampling the environment , 2004, SenSys '04.

[16]  Gaurav S. Sukhatme,et al.  Coverage, Exploration and Deployment by a Mobile Robot and Communication Network , 2004, Telecommun. Syst..

[17]  Gaurav S. Sukhatme,et al.  Constrained coverage for mobile sensor networks , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[18]  Robert D. Nowak,et al.  Backcasting: adaptive sampling for sensor networks , 2004, Third International Symposium on Information Processing in Sensor Networks, 2004. IPSN 2004.

[19]  A.C. Sanderson,et al.  Adaptive sampling algorithms for multiple autonomous underwater vehicles , 2004, 2004 IEEE/OES Autonomous Underwater Vehicles (IEEE Cat. No.04CH37578).

[20]  Xin Zhang,et al.  How to distribute sensors in a random field? , 2004, Third International Symposium on Information Processing in Sensor Networks, 2004. IPSN 2004.

[21]  Zack J. Butler,et al.  Controlling mobile sensors for monitoring events with coverage constraints , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[22]  Gaurav S. Sukhatme,et al.  Robomote: enabling mobility in sensor networks , 2005, IPSN 2005. Fourth International Symposium on Information Processing in Sensor Networks, 2005..

[23]  Thomas F. La Porta,et al.  Movement-assisted sensor deployment , 2004, IEEE INFOCOM 2004.