The effect of leaders on the consistency of group behaviour
International Journal of Sensor Networks
Studying the stochastic capturing of moving intruders by mobile sensors
Computers & Mathematics with Applications
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In this paper, we built a stochastic model that analyzes the intrusion detection quality achieved by a single moving sensor or robot moving along a certain track, based on velocity and mobility pattern. We consider the mode of intrusion events defined as follows: intrusions arrive at random points in the field of interest and fade away according to arrival and departure time distributions. In order to compare the results, two detection scenarios are studied: the robot detection scenario and the radar detection scenario. In the robot detection scenario, a robot is set to move periodically along a certain routine at a constant speed. In the radar detection scenario, radar is rotated at a constant speed in a clockwise/anti-clockwise direction. An intrusion is said to be captured if it is sensed by the moving robot or radar before it fades away.