Autonomous Deployment of Self-Organizing Mobile Sensors for a Complete Coverage

  • Novella Bartolini
  • Tiziana Calamoneri
  • Emanuele Guido Fusco
  • Annalisa Massini
  • Simone Silvestri
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5343)


In this paper we propose an algorithm for the autonomous deployment of mobile sensors over critical target areas where sensors cannot be deployed manually. The application of our approach does not require prior knowledge of the working scenario nor any manual tuning of key parameters. Our algorithm is completely distributed and sensors make movement decisions on the basis of locally available information. We prove that our approach guarantees a complete coverage, provided that a sufficient number of sensors are available. Furthermore, we demonstrate that the algorithm execution always terminates preventing movement oscillations. We compare our proposal with one of the most acknowledged algorithms by means of extensive simulations, showing that our algorithm reaches a complete and more uniform coverage under a wide range of operating conditions.


Mobile Sensor Sensor Number Sensor Deployment Coverage Hole Mobile Sensor Network 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Zou, Y., Chakrabarty, K.: Sensor deployment and target localization based on virtual forces. In: Proc. IEEE INFOCOM 2003 (2003)Google Scholar
  2. 2.
    Heo, N., Varshney, P.: Energy-efficient deployment of intelligent mobile sensor networks. IEEE Transactions on Systems, Man and Cybernetics 35 (2005)Google Scholar
  3. 3.
    Chen, J., Li, S., Sun, Y.: Novel deployment schemes for mobile sensor networks. Sensors 7 (2007)Google Scholar
  4. 4.
    Poduri, S., Sukhatme, G.S.: Constrained coverage for mobile sensor networks. In: Proc. of IEEE Int’l Conf. on Robotics and Automation, ICRA 2004 (2004)Google Scholar
  5. 5.
    Pac, M.R., Erkmen, A.M., Erkmen, I.: Scalable self-deployment of mobile sensor networks; a fluid dynamics approach. In: Proc. of IEEE/RSJ Int’l Conf. on Intelligent Robots and Systems, IROS 2006 (2006)Google Scholar
  6. 6.
    Kerr, W., Spears, D., Spears, W., Thayer, D.: Two formal fluid models for multi-agent sweeping and obstacle avoidance. In: Kudenko, D., Kazakov, D., Alonso, E. (eds.) AAMAS 2004. LNCS, vol. 3394. Springer, Heidelberg (2005)Google Scholar
  7. 7.
    Garetto, M., Gribaudo, M., Chiasserini, C.F., Leonardi, E.: A distributed sensor relocation scheme for environmental control. In: The Fourth ACM/IEEE Int. Conf. on Mobile Ad-hoc and Sensor Systems, MASS (2007)Google Scholar
  8. 8.
    Wang, G., Cao, G., Porta, T.L.: Movement-assisted sensor deployment. IEEE Transaction on Mobile Computing 6 (2006)Google Scholar
  9. 9.
    Wang, G., Cao, G., Porta, T.L.: Proxy-based sensor deployment for mobile sensor networks. In: IEEE Int. Conf. on Mobile Ad-hoc and Sensor Systems, MASS (2004)Google Scholar
  10. 10.
    Ma, M., Yang, Y.: Adaptive triangular deployment algorithm for unattended mobile sensor networks. IEEE Transactions on Computers 56 (2007)Google Scholar
  11. 11.
    Tan, G., Jarvis, S.A., Kermarrec, A.M.: Connectivity-guaranteed and obstacle-adaptive deployment schemes for mobile sensor networks. In: Proc. of ICDCS (2008)Google Scholar
  12. 12.
    Bartolini, N., Calamoneri, T., Fusco, E.G., Massini, A., Silvestri, S.: Snap & spread: a self-deployment algorithm for mobile sensor networks. In: Nikoletseas, S.E., Chlebus, B.S., Johnson, D.B., Krishnamachari, B. (eds.) DCOSS 2008. LNCS, vol. 5067. Springer, Heidelberg (2008)CrossRefGoogle Scholar
  13. 13.
    Babaoglu, O., Jelasity, M., Montresor, A.: Grassroots approach to self-management in large-scale distributed systems. In: Banâtre, J.-P., Fradet, P., Giavitto, J.-L., Michel, O. (eds.) UPP 2004. LNCS, vol. 3566. Springer, Heidelberg (2005)CrossRefGoogle Scholar
  14. 14.
    Bartolini, N., Massini, A., Silvestri, S.: P&p protocol: local coordination of mobile sensors for self-deployment (2008),
  15. 15.
    Brass, P.: Bounds on coverage and target detection capabilities for models of networks of mobile sensors. ACM Transactions on Sensor Networks 3 (2007)Google Scholar
  16. 16.
    Opnet technologies inc:
  17. 17.

Copyright information

© Springer-Verlag Berlin Heidelberg 2008

Authors and Affiliations

  • Novella Bartolini
    • 1
  • Tiziana Calamoneri
    • 1
  • Emanuele Guido Fusco
    • 1
  • Annalisa Massini
    • 1
  • Simone Silvestri
    • 1
  1. 1.Department of Computer ScienceSapienza University of RomeItaly

Personalised recommendations