Fast track article: Gradient-based target localization in robotic sensor networks
Pervasive and Mobile Computing
Distributed virtual-movement scheme for improving energy efficiency in wireless sensor networks
Proceedings of the 12th ACM international conference on Modeling, analysis and simulation of wireless and mobile systems
A fully distributed node allocation scheme with partition protection for Mobile Ad Hoc Networks
Computer Communications
Optimized relay node placement for connecting disjoint wireless sensor networks
Computer Networks: The International Journal of Computer and Telecommunications Networking
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Amidst the numerous active research efforts in wireless sensor networks which aim to push beyond the limits, we aim to significantly enhance the effectiveness of wireless sensors by integrating controlled mobility to realize a networked system of mobile sensors that functions collectively as an integrated unit. The AllteRrain Advanced NeTwork of Ubiquitous mobiLe Asynchronous Systems (TARANTULAS) project builds a system of networked wireless sensors and actuators carried on mobile robots that are able to operate in all kinds of terrain. To achieve this objective involves the integration of three key research areas: robotics, ad hoc networking and, localization and positioning. We not only use the robots to improve the connectivity and localization of the sensor networks, they concurrently search for targets. In this paper, we present key elements of the algorithms and technologies developed by the project. In particular, we show that the mobile robots and static nodes mutually support each other: robots move to fill the communication gaps to enhance connectivity and localization while static nodes serve as landmark nodes to help robots search for targets.