Approximation algorithms for the geometric covering salesman problem
Discrete Applied Mathematics
Polynomial time approximation schemes for Euclidean traveling salesman and other geometric problems
Journal of the ACM (JACM)
Smart-tag based data dissemination
WSNA '02 Proceedings of the 1st ACM international workshop on Wireless sensor networks and applications
Proceedings of the 10th international conference on Architectural support for programming languages and operating systems
Understanding packet delivery performance in dense wireless sensor networks
Proceedings of the 1st international conference on Embedded networked sensor systems
A message ferrying approach for data delivery in sparse mobile ad hoc networks
Proceedings of the 5th ACM international symposium on Mobile ad hoc networking and computing
Approximation algorithms for TSP with neighborhoods in the plane
Journal of Algorithms - Special issue: Twelfth annual ACM-SIAM symposium on discrete algorithms
Intelligent fluid infrastructure for embedded networks
Proceedings of the 2nd international conference on Mobile systems, applications, and services
Using mobile relays to prolong the lifetime of wireless sensor networks
Proceedings of the 11th annual international conference on Mobile computing and networking
A PTAS for TSP with neighborhoods among fat regions in the plane
SODA '07 Proceedings of the eighteenth annual ACM-SIAM symposium on Discrete algorithms
Wireless Communications & Mobile Computing - Resources and Mobility Management in Wireless Networks
On the Optimal Robot Routing Problem in Wireless Sensor Networks
IEEE Transactions on Knowledge and Data Engineering
Data Gathering by Mobile Mules in a Spatially Separated Wireless Sensor Network
MDM '09 Proceedings of the 2009 Tenth International Conference on Mobile Data Management: Systems, Services and Middleware
Poster abstract: On the spatial characteristics of the gray region for 802.15.4 radios
IPSN '09 Proceedings of the 2009 International Conference on Information Processing in Sensor Networks
Optimal Speed Control of Mobile Node for Data Collection in Sensor Networks
IEEE Transactions on Mobile Computing
Using predictable observer mobility for power efficient design of sensor networks
IPSN'03 Proceedings of the 2nd international conference on Information processing in sensor networks
Using mobile robots to harvest data from sensor fields
IEEE Wireless Communications
Robotic data mules for collecting data over sparse sensor fields
Journal of Field Robotics
Multiple controlled mobile elements (data mules) for data collection in sensor networks
DCOSS'05 Proceedings of the First IEEE international conference on Distributed Computing in Sensor Systems
On approximating the TSP with intersecting neighborhoods
ISAAC'06 Proceedings of the 17th international conference on Algorithms and Computation
Mobility-based communication in wireless sensor networks
IEEE Communications Magazine
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We introduce a new geometric robot-routing problem which arises in data-muling applications where a mobile robot is charged with collecting data from stationary sensors. The objective is to compute the robot's trajectory and download sequence so as to minimize the time to collect data from all of the sensors. The total data collection time has two components:the robot's travel time and the download time. The time to download data from a sensor s is a function of the location of the robot and s: if the robot is a distance rin away from s, it can download the sensor's data in Tin units of time. If the distance is greater than rin but less than rout, the download time is Tout > Tin. Otherwise, the robot can not download the data from s. Here, rin, rout, Tin and Tout are input parameters. We refer to this model, which is based on recently developed experimental models for sensor network deployments, as the two-ring model, and the problem of downloading data from a given set of sensors in minimum amount of time under this model as the two-ring tour (TRT) problem.We present approximation algorithms for the general case which uses solutions to the traveling salesperson with neighborhoods (TSPN) Problem as subroutines. We also present effcient solutions to special, but practically important versions of the problem such as grid-based and sparse deployments. The approach is validated in outdoor experiments.