Deployment and Connectivity Repair of a Sensor Net with a Flying Robot Academic Article uri icon

abstract

  • We consider multi-robot systems that include sensor nodes and aerial or ground robots networked together. Such networks are suitable for tasks such as large-scale environmental monitoring or for command and control in emergency situations. We present a sensor network deployment method using autonomous aerial vehicles and describe in detail the algorithms used for deployment and for measuring network connectivity and provide experimental data collected from field trials. A particular focus is on determining gaps in connectivity of the deployed network and generating a plan for repair, to complete the connectivity. This project is the result of a collaboration between three robotics labs (CSIRO, USC, and Dartmouth). © Springer-Verlag Berlin/Heidelberg 2006.

author list (cited authors)

  • Corke, P., Hrabar, S., Peterson, R., Rus, D., Saripalli, S., & Sukhatme, G.

citation count

  • 47

publication date

  • January 2006