Toward the Minimal Wait-for Delay for Rechargeable WSNs with Multiple Mobile Chargers

Nowadays, the flourish of the internet of things incurs a great demand for progressive technologies to prolong the lifetime of Wireless Sensor Networks. Exploiting a fleet of Mobile Chargers (MCs) to replenish the energy-critical sensor nodes provides a new dimension to maintain long-term network operations, but may suffer from high charging delay due to MC’s limited mobility. Most existing studies focus on the reduction of server-oriented delay, i.e., the overall time taken by MCs (servers) to carry out sensor charging and travel inside the sensing field. However, these solutions may not be robust enough as some energy-critical sensor nodes will run out of the stored energy before the charger’s arrival. In this article, we address this challenge by reducing the client-oriented delay—referred to as the wait-for delay—which is defined as the “arrival times” at the to-be-charged sensor nodes (clients). To this end, we first formulate a novel wait-for charging delay minimization problem under the multi-node energy charging scheme. We then prove the NP-hardness of the proposed problem. Inspired by empirical observations, we devise an efficient approximation algorithm with a provable approximation ratio for the problem. We have evaluated the proposed algorithm using real-life system settings. The experimental results suggest that the proposed algorithm certainly performs better than the existing benchmarks; it could reduce the wait-for delay by up to 87.4 percent.