edu
1 Introduction
A mobile sensor network consists of a collection of wireless connected mobile robots
equipped with a variety of sensors, as shown in Figure 1. In such a system, each
mobile robot has sensing, computation, communication, and locomotion capabilities.
The mobile robots spread out across certain areas and share sensory information
through an ad hoc wireless network. A mobile sensor network is therefore a
wireless sensor network with reconfigurable sensing capabilities [14], [22]. Mobile
sensor networks have a myriad of civilian and military applications ranging from
foraging, surveillance, search and rescue to mobile target tracking. A mobile sensor
network can be rapidly deployed in hostile environments, inaccessible terrains or
disaster relief operations for sensing and reconnaissance tasks, where a task is generally
achieved by coordination of the robots??™ activities. The variety of task specifications
and the ever-changing environment require the control algorithms of the recon-
figurable mobile sensor network to be flexible, scalable and adaptive. This chapter
presents a distributed model and algorithms for locally optimized control of mobile
sensor networks. Multi-robot coordination and formation control is addressed to the
continuous reconfiguration of the mobile robots for varying task requirements and
changing environments.
A mobile sensor network augments the capacity of a sensor network with motion,
which enhances its collaborative sensing, coverage, reliability and flexibility.
Pages:
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134