The broadcast storm problem in a mobile ad hoc network
MobiCom '99 Proceedings of the 5th annual ACM/IEEE international conference on Mobile computing and networking
Vision for Mobile Robot Navigation: A Survey
IEEE Transactions on Pattern Analysis and Machine Intelligence
On the reduction of broadcast redundancy in mobile ad hoc networks
MobiHoc '00 Proceedings of the 1st ACM international symposium on Mobile ad hoc networking & computing
Distributed algorithms for guiding navigation across a sensor network
Proceedings of the 9th annual international conference on Mobile computing and networking
A line in the sand: a wireless sensor network for target detection, classification, and tracking
Computer Networks: The International Journal of Computer and Telecommunications Networking - Special issue: Military communications systems and technologies
Selection and Navigation of Mobile Sensor Nodes Using a Sensor Network
PERCOM '05 Proceedings of the Third IEEE International Conference on Pervasive Computing and Communications
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In this paper, we propose a suite of three schemes for mobile robot coordination and navigation in positionless wireless sensor networks with the help of directional antennas. When a specific node, called waiting-for-rescue (WFR) node, detects the occurrence of an event, it broadcasts an event notification packet to the entire network for asking a mobile robot to come to help. In many existent schemes, the broadcast is achieved by the flooding scheme and thus incurs redundant forwarding packets. We propose an energy efficient broadcast scheme called farthest node forwarding (FNF), which utilizes received signal strength for a node to determine the backoff time to forward the broadcast packet. Thus, farther nodes have shorter backoff times and higher probabilities to forwarding. As we will show, this can reduce a lot of redundant forwarding packets to save energy, while achieving high reachability. The FNF scheme can also help construct a navigation tree which is rooted at the WFR node and contains only packet forwarding nodes. Under the consideration of multiple WFR nodes and multiple mobile robots, we also develop energy- and time-efficient mobile robot coordination and navigation schemes based on the navigation tree for the mobile robot equipped with a directional antenna. The effectiveness of the proposed schemes is verified in simulations by the ns-2 simulator.