Deployment and connectivity repair of a sensor net with a flying robot

Peter Corke, S. Hrabar, R. Peterson, D. Rus, S. Saripalli, Gaurav Sukhatme

Research output: Chapter in Book/Report/Conference proceedingChapter

25 Scopus citations

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).

Original languageEnglish (US)
Title of host publicationExperimental Robotics IX
Subtitle of host publicationThe 9th International Symposium on Experimental Robotics
EditorsMarcelo Ang, Oussama Khatib
Pages333-343
Number of pages11
DOIs
StatePublished - 2006

Publication series

NameSpringer Tracts in Advanced Robotics
Volume21
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

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  • Cite this

    Corke, P., Hrabar, S., Peterson, R., Rus, D., Saripalli, S., & Sukhatme, G. (2006). Deployment and connectivity repair of a sensor net with a flying robot. In M. Ang, & O. Khatib (Eds.), Experimental Robotics IX: The 9th International Symposium on Experimental Robotics (pp. 333-343). (Springer Tracts in Advanced Robotics; Vol. 21). https://doi.org/10.1007/11552246_32