Artificial intelligence: a new synthesis
Artificial intelligence: a new synthesis
Frontier-based exploration using multiple robots
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Computer Communications
General Network Lifetime and Cost Models for Evaluating Sensor Network Deployment Strategies
IEEE Transactions on Mobile Computing
A real-time and reliable transport (RT) 2 protocol for wireless sensor and actor networks
IEEE/ACM Transactions on Networking (TON)
Robotic Mapping and Exploration
Robotic Mapping and Exploration
Role-Based Autonomous Multi-robot Exploration
COMPUTATIONWORLD '09 Proceedings of the 2009 Computation World: Future Computing, Service Computation, Cognitive, Adaptive, Content, Patterns
Model-based design exploration of wireless sensor node lifetimes
EWSN'07 Proceedings of the 4th European conference on Wireless sensor networks
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IPSN'03 Proceedings of the 2nd international conference on Information processing in sensor networks
Sensors Deployment Enhancement by a Mobile Robot in Wireless Sensor Networks
ICN '10 Proceedings of the 2010 Ninth International Conference on Networks
Coordinated multi-robot exploration
IEEE Transactions on Robotics
Hierarchical SLAM: Real-Time Accurate Mapping of Large Environments
IEEE Transactions on Robotics
Sparse Local Submap Joining Filter for Building Large-Scale Maps
IEEE Transactions on Robotics
Divide and Conquer: EKF SLAM in
IEEE Transactions on Robotics
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This paper presents a novel approach of using autonomous mobile robots to deploy a Wireless Sensor Network (WSN) for human existence detection in case of disasters. During WSN deployment, mobile robots perform cooperative Simultaneous Localization and Mapping (SLAM) and communicate over the WSN. The proposed system has important advantages over a human-assisted system, including autonomous deployment, aggregated intelligence, and flexibility. However, the realization of these envisaged gains depends on communication and coordination capabilities of the system. In this study, the advantages of an autonomous WSN deployment system by mobile robots, design principles and implementation related issues have been explained. In addition, simulation studies have been performed to show the effectiveness of the proposed approach considering WSN coverage, coordination strategies, and SLAM perspectives. Overall, this paper addresses the advantages of using multiple robots for WSN deployment in terms of cooperative exploration and cooperative SLAM, the benefit of simultaneously deploying wireless sensor nodes during the exploration of an unknown deployment zone and the use of WSN-based communication as an alternative communication method during exploration.