Mobile Sensor Network Deployment using Potential Fields: A Distributed, Scalable Solution to the Area Coverage Problem
Andrew Howard,Maja J. Matarić,Gaurav S. Sukhatme +2 more
- pp 299-308
TLDR
This paper presents a potential-field-based approach to deployment of a mobile sensor network, where the fields are constructed such that each node is repelled by both obstacles and by other nodes, thereby forcing the network to spread itself throughout the environment.Abstract:
This paper considers the problem of deploying a mobile sensor network in an unknown environment. A mobile sensor network is composed of a distributed collection of nodes, each of which has sensing, computation, communication and locomotion capabilities. Such networks are capable of self-deployment; i.e., starting from some compact initial configuration, the nodes in the network can spread out such that the area ‘covered’ by the network is maximized. In this paper, we present a potential-field-based approach to deployment. The fields are constructed such that each node is repelled by both obstacles and by other nodes, thereby forcing the network to spread itself throughout the environment. The approach is both distributed and scalable.read more
Citations
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Motor Schema — Based Mobile Robot Navigation
TL;DR: A variant of the potential field method is used to produce the appropriate velocity and steering commands for the robot and demonstrates the feasibility of this approach.