A failure-tolerant mobile traversal scheme based on triangulation coverage

A triangulation-based coverage scheme using mobile sensor nodes (MSNs) has several applications in localization, 3D imaging and coordinated search operation. In this work, we introduce an efficient failure-tolerant mobile traversal algorithm (FTMTA) that provides a triangulation-based coverage of a field. FTMTA employs N MSNs such that, upto N -- 3 node failures can be tolerated to complete the coverage. FTMTA achieves three objectives: (a) as N increases, the total time to cover the field decreases in the absence of a failure; (b) each MSN travels a minimum distance; (c) upon a failure, the remaining MSNs efficiently complete the coverage of the field.

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