Robotic deployment of sensor networks using potential fields

Deploying large numbers of sensors has been receiving a lot of attention for detection of hazardous biological or chemical substances in public buildings, airports, shallow water harbors, etc. The sensor-carrying robots are in fact agents that facilitate the repositioning of network nodes in order t...

Full description

Saved in:
Bibliographic Details
Main Authors: Popa, D.O., Stephanou, H.E., Helm, C., Sanderson, A.C.
Format: Conference Proceeding
Language:English
Subjects:
Airports
Applied sciences
Biosensors
Chemical and biological sensors
Chemical hazards
Chemical technology
Computer science
control theory
systems
Computer systems and distributed systems. User interface
Control theory. Systems
Exact sciences and technology
Mobile communication
Mobile robots
Optimal control
Robot sensing systems
Robotics
Software
Telemetry
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Deploying large numbers of sensors has been receiving a lot of attention for detection of hazardous biological or chemical substances in public buildings, airports, shallow water harbors, etc. The sensor-carrying robots are in fact agents that facilitate the repositioning of network nodes in order to increase their coverage and accuracy. Wireless network communication is an essential technology in transmitting the sensed and telemetry information between robots, but it has traditionally been addressed separately from mobile robot navigation. In this work we propose to use a potential field framework to control the behavior of the mobile sensor nodes by combining classical robotic team concepts (obstacle avoidance, goal attainment, flight formation, environment mapping and coverage) with traditional sensor network concepts (node energy minimization, optimal data rate and congestion control, routing in ad-hoc networks). Simulation results are used to illustrate the proposed concepts, and an experimental mobile sensor fleet is built at the author's institution.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2004.1307221