Popa and Frank L. Lewis
Automation and Robotics Research Institute (ARRI)
University of Texas at Arlington
popa@arri.uta.edu, lewis@uta.edu
Recently, there has been renewed interest in using mobile robots as sensorcarrying
platforms in order to perform hazardous tasks, such as searching for
harmful biological and chemical agents, search and rescue in disaster areas,
or environmental mapping and monitoring [9, 25, 31, 36]. Even though mobility
introduces additional degrees of complexity in managing an untethered
sensor network. When considering mobile sensor nodes, many important issues
regarding the deployment architecture have yet to be fully addressed,
including tradeo?®s between node size, cost, and coverage, the selection of appropriate
information measures to quantify the data collection performance of
the mobile wireless sensor network (MWSN), distribution of communication
and computation, etc.
Developing robust deployment algorithms for mobile sensor units requires
simultaneous consideration of several optimization problems that have traditionally
been addressed separately. One problem is related to the quality and
usefulness of the collected sensor information (e.g., choosing optimal locations
in space where environmental samples are taken by the robotic system), another
is related to the robot team behavior for goal attainment (e.g., how does
the robot team accomplish the sampling objectives), and a third is related to
routing and congestion control in the ad-hoc wireless network formed by the
robots (e.
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