The Cricket location-support system
MobiCom '00 Proceedings of the 6th annual international conference on Mobile computing and networking
A directionality based location discovery scheme for wireless sensor networks
WSNA '02 Proceedings of the 1st ACM international workshop on Wireless sensor networks and applications
Energy-Efficient Communication Protocol for Wireless Microsensor Networks
HICSS '00 Proceedings of the 33rd Hawaii International Conference on System Sciences-Volume 8 - Volume 8
Distributed algorithms for guiding navigation across a sensor network
Proceedings of the 9th annual international conference on Mobile computing and networking
The limits of localization using RSS
SenSys '04 Proceedings of the 2nd international conference on Embedded networked sensor systems
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
Toward Reliable Off Road Autonomous Vehicles Operating in Challenging Environments
International Journal of Robotics Research
Robomote: enabling mobility in sensor networks
IPSN '05 Proceedings of the 4th international symposium on Information processing in sensor networks
An efficient system for combined route traversal and collision avoidance
Autonomous Robots
Event-Based Motion Control for Mobile-Sensor Networks
IEEE Pervasive Computing
Equiangular navigation and guidance of a wheeled mobile robot based on range-only measurements
Robotics and Autonomous Systems
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A wireless sensor network has the ability to autonomously perform event detection over large areas, but power and/or cost constraints limit the addition of equipment such as cameras onto sensor modules to verify events. Accordingly, verification must be performed by an independent mobile robotic vehicle which has sensing equipment for improved event detection. The main challenge, however, is that the robotic vehicle itself is typically located somewhere in the sensor field and has no prior knowledge of the geographic location of the event. In this paper, we specifically focus upon the scenario of navigating a robotic vehicle through a stationary wireless sensor network as a means to perform event verification. The underlying assumptions are that the robotic vehicle has distance traveled and heading measurements, but the only additional information provided by the stationary sensors is a communication boundary. More significantly, we emphasize that under this scenario, neither the robot nor the ground-fixed sensing nodes have location or any other geographical landmark information. The paper introduces two distinct and novel navigation algorithms that permit the robotic vehicle to travel from one fixed node to another along a communication path established in an ad-hoc fashion. These navigation algorithms have been tested on a newly developed UTrekr robotic vehicle within a hardware based ground-fixed sensor network and under assumption of perfect communication and network operations, we report a nearly 100% success rate even while using open-loop robot control.