S-NETS: Smart Sensor Networks

  • Yu Chen
  • Thomas C. Henderson
Conference paper
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 271)


The utilization of nonmobile, distributed sensor and communication devices by a team of mobile robots offers performance advantages in terms of speed, energy, robustness and communication requirements. Models of mobile robots with on-board sensors, a communication protocol and the S-Net system are established. Algorithms are defined for the S-Net which perform cooperative computation and provide information about the environment. Behaviors include robots going to or surrounding a temperature source. The simulation experiments show that the S-Net performs well, and is particularly robust with respect to noise in the environment. System cost versus performance is studied, and guidelines are formulated for which the S-Net system out-performs the non-S-Net system.


Mobile Robot Temperature Source Round Trip Robot Behavior Black Stripe 
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]
    Bares J E, Wettergreen D S 1999 Dante II: Technical description, results, and lessons learned. Int J Rob Res. 18(7):621–649 JulyCrossRefGoogle Scholar
  2. [2]
    Smith R, Frost A, Probert 1999 P A Sensor System for the navigation of an underwater vehicle. Int J Rob Res. 18(7):697–710 JulyCrossRefGoogle Scholar
  3. [3]
    Henderson, T C, Dekhil M, Morris S, Chen Y, Thompson W B 1998 Smart Sensor Snow. IEEE Conf IROS. Oct, pp 1377–1382Google Scholar
  4. [4]
    Chen Y 2000 S-Nets: Smart Sensor Networks. MS Thesis, University of UtahGoogle Scholar
  5. [5]
    Murray J 1993 Mathematical Biology. Springer-Verlag, New YorkzbMATHGoogle Scholar
  6. [6]
    Turing A 1952 The chemical basis of morphogenesis. Phil Trans Roy Soc London. B237:37–72CrossRefGoogle Scholar
  7. [7]
    Sethian J A 1999 Level Set Methods and Fast Marching Methods. Cambridge University Press, Cambridge UKzbMATHGoogle Scholar
  8. [8]
    Fraden J 1993 AIP Handbook of Modern Sensors. Americal Institute of Physics, New YorkGoogle Scholar
  9. [9]
    Everett H R 1995 Sensors for Mobile Robots: Theory and Applications. A K Peters Ltd, MAGoogle Scholar
  10. [10]
    Prasad L, Iyengar S S, Min H 1995 Advances in Distributed Sensor Integration. Prentice-Hall Inc, New JerseyGoogle Scholar
  11. [11]
    Lilja D J 2000 Measuring Computer Performance, A Practitioner’s Guide. Cambridge University Press, Cambridge UKGoogle Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2001

Authors and Affiliations

  • Yu Chen
    • 1
  • Thomas C. Henderson
    • 1
  1. 1.University of UtahSalt Lake CityUSA

Personalised recommendations