## 2 Application of Networked Mobile Sensors
### Military Applications  
National military forces always try to use technological developments to reduce the risk of soldier death and injury by producing highly technological weapons and vehicles. These reasons make the military field a very reasonable application area for robotic systems. Walking through minefields, surveying borders, executing logistic operations and destroying dangerous materials are some examples of the usage of networked mobile systems in the military applications [61, 62, 63]. Nowadays, autonomous Multi-Unmanned Air Vehicles (MUAVs) have great importance in the field of military for reconnaissance applications [61]. UAVs flying without a human crew are used to report militants' actions before any attack. Because of limited sensing and communication range in highly strategic and secret missions, vast operation areas, and power issues, multi UAV systems have been preferred over networked ground autonomous vehicles. UAV systems have become very popular in military missions, since they can collect information from different locations and fuse them for decisions about the next action that each member of the group has to take and send collected information to an operation center. They are also fault tolerant, flexible in surveillance tasks and highly versatile, spanning a large variety of application areas. Large coverage areas can be monitored due to cooperation of swift units of the UAV network and coordination in the exchange of sensory information acquired individually from the work environment. [PERSON] _et al._[63] developed a team control strategy for a distributed UAV network not only for observation of critical areas but also for deployment of small sensor nodes in the mission environment. By deploying new sensors in areas deprived of continuous communication, the UAV network repairs the connectivity of the existing network. The given architecture is also designed for cooperatively carrying heavy loads by three UAVs. It is the first attempt to carry a military load with three UAVs. Networked micro-robot teams that have complex sensing abilities are a challenging research topic for military operations. They can effectively percolate into hazardous environments and send information about the state of the enemy. Many limitations exist, e.g., robot units must be small enough to reach small areas and be inexpensive. Minimum power consumption is another very critical design issue. If these critical issues are solved, micro robot teams will perform a very critical duty in the military applications and reduce the danger of death to humans in the wars. [PERSON] _et al._[62] proposed a heterogeneous multi-robot system for humanitarian demining, including mine and minefield detection. Their system includes human operators, UAVs, legged and wheeled robots, where complexity is reduced through cooperation and coordination of the different units. UAVs are used to detect mines. Legged robots have the capability to walk in rough and unstructured terrains and wheeled robots have high navigation capability in smooth terrains such that they increase the system performance in terms of cost and time. Therefore, the coordination and cooperation between robots with different navigation and sensing capabilities increase the efficiency of the proposed system in humanitarian demining operations. [PERSON] and [PERSON] [64] were inspired from the hierarchical nature of military operational theory when developing a control methodology for heterogeneous networked unmanned ground vehicle and unmanned aerial vehicle teams for military applications. The ultimate aim of their research is to replace humans by effective autonomous systems in military missions. The proposed approach has an organizing schema about distributed networked robot teams applicable to hierarchical military rank structures.