Multi-Robot Patrolling in Wireless Sensor Networks Using Bounded Cycle Coverage

Mihai-Ioan Popescu, H. Rivano, Olivier Simonin
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引用次数: 11

Abstract

Patrolling is mainly used in situations where the need of repeatedly visiting certain places is critical. In this paper, we consider a deployment of a wireless sensor network (WSN) that cannot be fully meshed because of the distance or obstacles. Several robots are then in charge of getting close enough to the nodes in order to connect to them, and perform a patrol to collect all the data in time. We discuss the problem of multi-robot patrolling within the constrained wireless networking settings. We show that this is fundamentally a problem of vertex coverage with bounded simple cycles (CBSC). We offer a formalization of the CBSC problem and prove it is NP-hard and at least as hard as the Traveling Salesman Problem (TSP). Then, we provide and analyze heuristics relying on clusterings and geometric techniques. The performances of our solutions are assessed in regards to networking parameters, robot energy, but also to random and particular graph models.
基于有界周期覆盖的无线传感器网络多机器人巡逻
巡逻主要用于需要反复访问某些地方的情况。在本文中,我们考虑了由于距离或障碍物而不能完全网格化的无线传感器网络(WSN)的部署。然后,几个机器人负责靠近节点以便与节点连接,并执行巡逻以及时收集所有数据。讨论了在受限无线网络环境下的多机器人巡逻问题。我们证明了这从根本上是一个有界简单环(CBSC)的顶点覆盖问题。我们给出了CBSC问题的形式化,并证明了它是np困难的,至少和旅行商问题(TSP)一样难。然后,我们提供并分析基于聚类和几何技术的启发式算法。我们的解决方案的性能是根据网络参数,机器人能量,以及随机和特定的图模型来评估的。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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