Online, Adaptive, and Distributed Multi-Robot Motion Planning for Collaborative Patrolling of Sparse Sensor Networks

摘要

This paper presents an online, adaptive, distribu- tive and collaborative path planning method for a team of autonomous mobile sensors that enables them to navigate through a sparse network of stationary sensors to search for events and improve the spatio-temporal coverage of the sensor field. The mobile sensor nodes have limited communication and sensing ranges and collaborate to autonomously plan their trajectories, adapt to the local region they monitor and enhance the area coverage over time under constrains like obstacles, collisions and limited communication. In this context, this paper addresses the trade off between area coverage and mobiles' travelled distance and proposes an adaptive speed model to minimize the distance the mobiles travelled and hence the energy needed for mobility. Finally, simulation results indicate the effectiveness of the proposed approach over a centralized partitioning approach under mobile sensors failures. I. INTRODUCTION