Note that if the communication interval is too long, the
deployment algorithm may go unstable. The proposed algorithm can be employed in
a real mobile sensor network with a carefully chosen communication rate which is
proportional to robot velocity.
(a) Final deployment based on DT
neighborhood with discrete communication
(b) Final deployment based on PDT
neighborhood with discrete communication
Fig. 12. Final deployment of mobile robots with discrete communication.
(a) Initial deployment (b) Self-deployment
Fig. 13. Autonomous deployment of 20 mobile robots in a corridor.
4.2 Autonomous deployment in constrained space
Generally a mobile sensor network works in unstructured environments. Figure 13
shows an initial deployment of 20 mobile robots in a corridor and the final config-
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uration of the system after the redeployment.
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