Deployment and Connectivity Repair of a Sensor Net with a Flying Robot

  • P. Corke
  • S. Hrabar
  • R. Peterson
  • D. Rus
  • S. Saripalli
  • G. Sukhatme
IX. Flying Robots
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 21)

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.)

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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • P. Corke
    • 1
  • S. Hrabar
    • 2
  • R. Peterson
    • 3
  • D. Rus
    • 4
  • S. Saripalli
    • 2
  • G. Sukhatme
    • 2
  1. 1.CSIRO ICT CentreAustralia
  2. 2.Center for Robotics and Embedded Systems University of Southern California, Los Angeles, CaliforniaUSA
  3. 3.Dartmouth Computer Science Department, Hanover, NH 03755USA
  4. 4.Computer Science and Artificial Intelligence Laboratory MIT, Cambridge MA 02139USA

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