Distributed Anonymous Mobile Robots: Formation of Geometric Patterns
SIAM Journal on Computing
Gathering of Asynchronous Oblivious Robots with Limited Visibility
STACS '01 Proceedings of the 18th Annual Symposium on Theoretical Aspects of Computer Science
Interaction and intelligent behavior
Interaction and intelligent behavior
The coverage problem in a wireless sensor network
WSNA '03 Proceedings of the 2nd ACM international conference on Wireless sensor networks and applications
On k-coverage in a mostly sleeping sensor network
Proceedings of the 10th annual international conference on Mobile computing and networking
Barrier coverage with wireless sensors
Proceedings of the 11th annual international conference on Mobile computing and networking
Reliable density estimates for coverage and connectivity in thin strips of finite length
Proceedings of the 13th annual ACM international conference on Mobile computing and networking
Barrier Coverage with Mobile Sensors
ISPAN '08 Proceedings of the The International Symposium on Parallel Architectures, Algorithms, and Networks
Gathering few fat mobile robots in the plane
Theoretical Computer Science
On Minimizing the Maximum Sensor Movement for Barrier Coverage of a Line Segment
ADHOC-NOW '09 Proceedings of the 8th International Conference on Ad-Hoc, Mobile and Wireless Networks
Optimal movement of mobile sensors for barrier coverage of a planar region
Theoretical Computer Science
Multi-round sensor deployment for guaranteed barrier Coverage
INFOCOM'10 Proceedings of the 29th conference on Information communications
On minimizing the sum ofensor movements for barrier coverage of a line segment
ADHOC-NOW'10 Proceedings of the 9th international conference on Ad-hoc, mobile and wireless networks
Local algorithms for autonomous robot systems
SIROCCO'06 Proceedings of the 13th international conference on Structural Information and Communication Complexity
Algorithms on minimizing the maximum sensor movement for barrier coverage of a linear domain
SWAT'12 Proceedings of the 13th Scandinavian conference on Algorithm Theory
Distributed Computing by Oblivious Mobile Robots
Distributed Computing by Oblivious Mobile Robots
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We study the barrier coverage problem using relocatable sensor nodes. We assume each sensor can sense an intruder or event inside its sensing range. Sensors are initially located at arbitrary positions on the barrier and can move along the barrier. The goal is to find final positions for sensors so that the entire barrier is covered. In recent years, the problem has been studied extensively in the centralized setting. In this paper, we study the problem in the distributed setting. We assume each sensor repeatedly executes a Look-Compute-Move cycle: based on what it sees in its vicinity, it makes a decision on where to move, and moves to its next position. We make two strong but realistic restrictions on the capabilities of sensors: they have a constant visibility range and can move only a constant distance in every cycle. In this model, we give the first two distributed algorithms that achieve barrier coverage for a line segment barrier when there are enough nodes in the network to cover the entire barrier. Our algorithms are synchronous, and local in the sense that sensors make their decisions independently based only on what they see within their constant visibility range. One of our algorithms is oblivious whereas the other uses two bits of memory at each sensor to store the type of move made in the previous step. We show that our oblivious algorithm terminates within Θ(n2) steps with the barrier fully covered, while the constant-memory algorithm is shown to take Θ(n) steps to terminate in the worst case. Since any algorithm that can only move a constant distance in one step requires Ω(n) steps on some inputs, our second algorithm is asymptotically optimal. Finally, both our algorithms are self-stabilizing, and can be easily extended to the case of non-homogeneous sensors, and for the case when the barrier is a circle.