On k-connectivity for a geometric random graph
Random Structures & Algorithms
On the minimum node degree and connectivity of a wireless multihop network
Proceedings of the 3rd ACM international symposium on Mobile ad hoc networking & computing
Connectivity-Guaranteed and Obstacle-Adaptive Deployment Schemes for Mobile Sensor Networks
ICDCS '08 Proceedings of the 2008 The 28th International Conference on Distributed Computing Systems
A geometric approach to deploying robot swarms
Annals of Mathematics and Artificial Intelligence
Simple movement control algorithm for bi-connectivity in robotic sensor networks
IEEE Journal on Selected Areas in Communications - Special issue on simple wireless sensor networking solutions
Autonomous actor positioning in wireless sensor and actor networks using stable-matching
International Journal of Parallel, Emergent and Distributed Systems - Best papers from the WWASN2009 workshop
On “Movement-Assisted Connectivity Restoration in Wireless Sensor and Actor Networks”
IEEE Transactions on Parallel and Distributed Systems
Architecture and protocol design for a pervasive robot swarm communication networks
Wireless Communications & Mobile Computing
Coordinated Locomotion and Monitoring Using Autonomous Mobile Sensor Nodes
IEEE Transactions on Parallel and Distributed Systems
Movement control algorithms for realization of fault-tolerant ad hoc robot networks
IEEE Network: The Magazine of Global Internetworking
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This paper proposes a new solution to the problem of self-deploying a network of wireless mobile robots with simultaneous consideration to several criteria, that are, the fault-tolerance (biconnectivity) of the resulting network, its coverage, its diameter, and the quantity of movement required to complete the deployment. These criteria have already been addressed individually in previous works, but we propose here an elegant solution to address all of them at once. Our approach is based on combining two complementary sets of virtual forces: spring forces, whose properties are well known to provide optimal coverage at reasonable movement cost, and angular forces, a new type of force proposed here whose effect is to rotate two angularly consecutive neighbors of a node toward one another when the corresponding angle is larger than 60^o (even if these two nodes are not themselves neighbors). Angular forces have the global effect of biconnecting the network and reducing its diameter, while not affecting the benefits obtained by spring forces on coverage. In this paper we give a detailed description of both types of forces, whose combination poses a number of technical challenges. We also provide an implementation that relies only on position exchanges within two hops. Extensive simulations are finally presented to evaluate the solution against all criteria (coverage, biconnectivity, quantity of movements, and diameter), and show its advantages over prior solutions.