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.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
R. C. Arkin. Motor schema based mobile robot navigation. International Journal of Robotics Research, 8(4):92–112, 1989.
T. Balch and M. Hybinette. Behavior-based coordination of large-scale robot formations. In Proceedings of the Fourth International Conference on Multiagent Systems (ICMAS ′00), pages 363–364, Boston, MA, USA, July 2000.
W. Burgard, M. Moors, D. Fox, R. Simmons, and S. Thrun. Collaborative multi-robot exploration. In Proc. of IEEE International Conferenceon Robotics and Automation (ICRA), volume 1, pages 476–81, 2000.
G. Dedeoglu and G. S. Sukhatme. Landmark-based matching algorithms for cooperative mapping by autonomous robots. In L. E. Parker, G. W. Bekey, and J. Barhen, editors, Distributed Autonomous Robotics Systems, volume 4, pages 251–260. Springer, 2000.
D. W. Gage. Command control for many-robot systems. In AUVS-92, the Nineteenth Annual AU VS Technical Symposium, pages 22–24, Hunstville Alabama, USA, June 1992. Reprinted in Unmanned Systems Magazine, Fall 1992, Volume 10, Number 4, pp 28–34.
B. Gerkey, R. Vaughan, and A. Howard. Player/Stage homepage. http://robotics.usc.edu/player/, September 2001.
B. P. Gerkey, R. T. Vaughan, K. Støy, A. Howard, G. S. Sukhatme, and M. J. Mataric. Most valuable player: A robot device server for distributed control. In Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS01), pages 1226–1231, Wailea, Hawaii, Oct. 2001.
H. Goldstein. Classical mechanics. Addison-Wesley, 1980.
A. Howard, M. J. Mataric, and G. S. Sukhatme. Localization for mobile robot teams: A maximum likelihood approach. Technical Report IRIS-01–407, Institute for Robotics and Intelligent Systems Technical Report, University of Sourthern California, 2001.
O. Khatib. Real-time obstacle avoidance for manipulators and mobile robots. International Journal of Robotics Research, 5(1):90–98, 1986.
M. López-Sánchez, F. Esteva, R. L. de Mántaras, C. Sierra, and J. Amat. Map generation by cooperative low-cost robots in structured unknown environments. Autonomous Robots, 5(1):53–61, 1998.
J. O’Rourke. Art Gallery Theorems and Algorithms. Oxford University Press, New York, August 1987.
F. E. Scheider, D. Wildermuth, and H.-L. Wolf. Motion coordination in formations of multiple mobile robots using a potential field approach. In L. E. Parker, G. W. Bekey, and J. Barhen, editors, Distributed Autonomous Robotics Systems, volume 4, pages 305–314. Springer, 2000.
R. Simmons, D. Apfelbaum, W. Burgard, D. Fox, M. Moors, S. Thrun, and H. Younes. Coordination for multi-robot exploration and mapping. In Proc. of the Seventeenth National Conference on Artificial Intelligence (AAAI-2000), pages 852–858, 2000.
S. Thrun, W. Burgard, and D. Fox. A real-time algorithm for mobile robot mapping with applications to multi-robot and 3d mapping. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA2000), volume 1, pages 321–328, 2000.
S. Thrun, D. Fox, W Burgard, and F. Dellaert. Robust monte carlo localization for mobile robots. Artificial Intelligence Journal, 128(1–2):99–141, 2001.
R. T. Vaughan. Stage: a multiple robot simulator. Technical Report IRIS-00–393, Institute for Robotics and Intelligent Systems, University of Southern California, 2000.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2002 Springer-Verlag Tokyo
About this paper
Cite this paper
Howard, A., Matarić, M.J., Sukhatme, G.S. (2002). Mobile Sensor Network Deployment using Potential Fields: A Distributed, Scalable Solution to the Area Coverage Problem. In: Asama, H., Arai, T., Fukuda, T., Hasegawa, T. (eds) Distributed Autonomous Robotic Systems 5. Springer, Tokyo. https://doi.org/10.1007/978-4-431-65941-9_30
Download citation
DOI: https://doi.org/10.1007/978-4-431-65941-9_30
Publisher Name: Springer, Tokyo
Print ISBN: 978-4-431-65943-3
Online ISBN: 978-4-431-65941-9
eBook Packages: Springer Book Archive