Transcript Sensor Deployment by Robot in AN UNKNOWN Orthogonal

MOBILE SENSOR NETWORK DEPLOYMENT USING POTENTIAL FIELDS:
A DISTRIBUTED, SCALABLE SOLUTION TO THE AREA COVERAGE PROBLEM
Proceedings of the 6th International Symposium on Distributed Autonomous Robotics Systems (DARS02)
Authors: Andrew Howard; Maja J Matarić; Gaurav S Sukhatme
Summary: Robert Burden
AUGMENTED PAPER
Sensor Deployment and Target Localization
Based on Virtual Forces
Authors:Yi Zou & Krishnendu Chakrabarty
Published in the Proceedings of the 22nd Joint Conference of IEEE Computer and
Communications Societies (INFOCOM 2003)
OBJECTIVES
Goal of Work
Problems Addressed
Efficiently deploying a mobile sensor
network.
1. Self Deployment
2. Coverage Maximization
3. Minimize Energy usage
Technology Replaced
Aim of Work
Random deployment?
Evaluate virtual force based sensor
network deployment
PROPOSAL
PROPOSAL
CONTRIBUTIONS
First time force based algorithm has been
used to deploy sensors
Energy reduction
CONTRIBUTIONS
Paper #1
Paper #2
First use of a force based
algorithm to deploy
sensors
Energy use reduction
compared to paper #1
IMPACT
This paper has been cited just less than 1000 research papers.
Uses an early version of the Player/Stage system in the paper from
last week
EVALUATION
Paper #1
Paper #2
 Emulation
 Mathematical Proofs
 Mathematical Proofs
 Simulation
 Algorithmic Proof
OPEN PROBLEMS
Paper #1
Paper #2
Mixing static nodes with
Line of Sight Connectivity
dynamic nodes
Node Collision
Efficient Use nodes
DISCUSSION
Ideas on combating the line of sight problem?
How do you decide how many nodes to initially deploy?
DISCUSSION
CITATION
HOWARD, ANDREW, MAJA J. MATARIĆ, AND GAURAV S. SUKHATME.
"MOBILE SENSOR NETWORK DEPLOYMENT USING POTENTIAL FIELDS: A
DISTRIBUTED, SCALABLE SOLUTION TO THE AREA COVERAGE PROBLEM."
DISTRIBUTED AUTONOMOUS ROBOTIC SYSTEMS 5. SPRINGER JAPAN,
2002. 299-308.
ZOU, YI, AND KRISHNENDU CHAKRABARTY. "SENSOR DEPLOYMENT AND
TARGET LOCALIZATION BASED ON VIRTUAL FORCES." INFOCOM 2003.
TWENTY-SECOND ANNUAL JOINT CONFERENCE OF THE IEEE COMPUTER
AND COMMUNICATIONS. IEEE SOCIETIES. VOL. 2. IEEE, 2003.