Sensor coverage using mobile robots and stationary nodes

We consider the dynamic sensor coverage problem in the absence of global localization information. In the regime where few sensors are available compared to the size of the space being explored, a successful strategy must effectively mobilize the sensors by mounting them on mobile robots. We present here an approach where mobile robots explore an uncharted environment, by deploying small communication beacons. These beacons act as local markers for preferred directions of further exploration. The robots never acquire a map of their surroundings, nor are localized, however they ensure timely coverage of all regions of the space by relying on the local instructions disseminated by the stationary communication beacons. Preliminary data from experiments suggest that our algorithm produces exploratory, patrol-like behavior, resulting in good spatial sensor coverage over time.