Robot Control Strategies for Task Allocation with Connectivity Constraints in Wireless Sensor and Robot Networks

Mobility within Wireless Sensor Networks (WSNs) has been widely considered for data collection tasks, where mobile robots physically collect the data from the sensors and return to the base station. Although this approach has proven to be useful in prolonging the lifetime of these networks, it canno...

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Veröffentlicht in:	IEEE transactions on mobile computing Jg. 17; H. 6; S. 1429 - 1441
Hauptverfasser:	Wichmann, Andrew, Korkmaz, Turgay, Tosun, Ali S.
Format:	Magazine Article
Sprache:	Englisch
Veröffentlicht:	Los Alamitos IEEE 01.06.2018 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	Base stations Computer simulation connectivity controlled mobility Data collection data mules Energy transmission Mathematical analysis mixed-integer quadratically constrained quadratic program Mobile computing Mobile robots Radio equipment Remote sensors Robot control Robot sensing systems Robots task allocation Wireless sensor networks
ISSN:	1536-1233, 1558-0660
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Abstract	Mobility within Wireless Sensor Networks (WSNs) has been widely considered for data collection tasks, where mobile robots physically collect the data from the sensors and return to the base station. Although this approach has proven to be useful in prolonging the lifetime of these networks, it cannot meet the requirements of real-time data collection tasks. For such tasks, we need to utilize mobile robots to create a connected path from the base station to the event, as well as use in-network forwarding through that path. This will provide a longer lifetime while addressing efficiency and scalability issues because mobile robots have a larger and renewable energy reserve, a longer transmission range, and capacity. One of the fundamental problems is how to coordinate robots to establish a connected path from the event location to the base station. We consider this fundamental problem with two objectives, namely minimizing distance traveled by the robots and minimizing hop count (the number of robots used on paths) under the constraints of satisfying the path and/or network connectivity. After mathematically formulating the underlying problems and discussing their NP-hardness, we propose various heuristic solutions. We then demonstrate the efficacy of our proposed solutions through extensive simulations.
AbstractList	Mobility within Wireless Sensor Networks (WSNs) has been widely considered for data collection tasks, where mobile robots physically collect the data from the sensors and return to the base station. Although this approach has proven to be useful in prolonging the lifetime of these networks, it cannot meet the requirements of real-time data collection tasks. For such tasks, we need to utilize mobile robots to create a connected path from the base station to the event, as well as use in-network forwarding through that path. This will provide a longer lifetime while addressing efficiency and scalability issues because mobile robots have a larger and renewable energy reserve, a longer transmission range, and capacity. One of the fundamental problems is how to coordinate robots to establish a connected path from the event location to the base station. We consider this fundamental problem with two objectives, namely minimizing distance traveled by the robots and minimizing hop count (the number of robots used on paths) under the constraints of satisfying the path and/or network connectivity. After mathematically formulating the underlying problems and discussing their NP-hardness, we propose various heuristic solutions. We then demonstrate the efficacy of our proposed solutions through extensive simulations.
Author	Wichmann, Andrew Tosun, Ali S. Korkmaz, Turgay
Author_xml	– sequence: 1 givenname: Andrew surname: Wichmann fullname: Wichmann, Andrew email: wichmann.andrew@gmail.com organization: Dept. of Comput. Sci., Univ. of Texas at San Antonio, San Antonio, TX, USA – sequence: 2 givenname: Turgay surname: Korkmaz fullname: Korkmaz, Turgay email: korkmaz@cs.utsa.edu organization: Dept. of Comput. Sci., Univ. of Texas at San Antonio, San Antonio, TX, USA – sequence: 3 givenname: Ali S. surname: Tosun fullname: Tosun, Ali S. email: tosun@cs.utsa.edu organization: Dept. of Comput. Sci., Univ. of Texas at San Antonio, San Antonio, TX, USA
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SubjectTerms	Base stations Computer simulation connectivity controlled mobility Data collection data mules Energy transmission Mathematical analysis mixed-integer quadratically constrained quadratic program Mobile computing Mobile robots Radio equipment Remote sensors Robot control Robot sensing systems Robots task allocation Wireless sensor networks
Title	Robot Control Strategies for Task Allocation with Connectivity Constraints in Wireless Sensor and Robot Networks
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