A Scalable Graph Model and Coordination Algorithms for Mobile Sensor Networks

  • Jindong Tan
Part of the Signals and Communication Technology book series (SCT)

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. 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 reconfigurable 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.


Sensor Network Mobile Robot Voronoi Diagram Delaunay Triangulation Topological Event 


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Copyright information

© Springer Science+Business Media, LLC 2008

Authors and Affiliations

  • Jindong Tan
    • 1
  1. 1.Department of Electrical and Computer EngineeringMichigan Technological UniversityHoughtonUSA

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