BACK-TRACKING BASED SENSOR DEPLOYMENT BY A ROBOT TEAMProceedings of the 7th IEEE Communications Society Conference on Sensor Mesh and Ad-Hoc Communications and Networks

(SECON 2010)

Authors: Greg Fletcher; Xu Li; Amiya Nayak; Ivan Stojmenovic;

Summary: Robert Burden

OBJECTIVESGoal of Work

Minimize movement by robots while deploying a sensor

network

Problems Addressed1. SLeast Recently Visited

2. (LRV)t3. Self healing

Technology Built On

Least Recently Visited (LRV) Snake-Like Deployment

(SLD)

Aim of Work

Expand existing carrier-based sensor placement algorithms

to teams

PREVIOUS WORKLeast Recently Visited Snake-Like

Deployment• Deployed sensors recommend

future moves• Excessive movement to explore

and ROI • Eventually produces full coverage

• Doesn’t Guarantee Full Coverage• Efficient movement due to lack of

backtracking

ASSUMPTIONS1. n number of mobile robotics carrying a sufficient

number of sensors to cover the ROI2. Robots are distributed randomly throughout the

ROI3. Robots are aware of their position via GPS or

similar positioning systems4. Robots have laser range-finding ability in a 360

degree view 5. Sensors have a fixed sensing range & periodically

transmit a “hello” containing position and other important information.

6. Sensors know about their neighborhood changes (node failure)

CONTRIBUTIONSBack-Tracking Deployment (BTD)

CONTRIBUTIONSMulti Robot Back-Tracking Deployment (BTD)

CONTRIBUTIONSSelf Healing in Back-Tracking Deployment

(BTD)

IMPACTAccording to Google Scholar this paper has been cited 16 times mostly self citations by Dr. Li Xu.

Major part of the first paper I presented “Sensor Deployment by Robot in an Unknown Orthogonal

Environment”

EVALUATION

1. Simulation2. Statistical Analysis

EVALUATIONCoverage Ratio (CR): The average ratio of the

number occupied grid points to the total number of grid points at algorithm termination time.

Robot Moves (RV): The average number of movements made by each robot during simulation.

Robot Messages (RM): The average number of messages generated by each robot during simulation.

Sensor Messages (SM): The total number of messages transmitted by sensors during simulation.

EVALUATION

FUTURE WORKPlacing sensors in a loop while sensors are

failuring can result in a non-terminating algorithm.

Sensing hole “donuts” can result in false dead ends which leads to less then 100% coverage.

It is possible for one robot to preform the majority of deployment in a multiple robot

deployment scenario.

DISCUSSION

How can we deal with the load balancing issue in multiple robot

deployment?

CITATION

FLETCHER, GREG, ET AL. "BACK-TRACKING BASED SENSOR DEPLOYMENT BY A ROBOT TEAM." SENSOR MESH AND AD HOC COMMUNICATIONS AND NETWORKS (SECON), 2010 7TH ANNUAL IEEE COMMUNICATIONS SOCIETY CONFERENCE ON. IEEE, 2010.