Abstract-This paper presents an approach for deploying a team of mobile sensor nodes to form a sensor network in indoor environments. The challenge in this work is that the mobile sensor in Section VI. Related work is described in Section VII. We offer concluding remarks in Section VI11 nodes hate no ability for l&alization or obstacle aboidance. Thus, our approach entails the use of more capable '*helper" robots that "herd" the mobile sensor nodes into their deploymrnt positions. To extensitel) explore the issues of heterogeneity in multi-robot teams, we employ the use of two types of helper robots -one that acts as a leader and a second that: I ) acts as u follower and 2) autonomousl? teleoprrutrc the mobile sensor nodrs. Due to limited sensing capabilities, nrither of thrse helper rnhols can herd the mobile sensor nodw dune; instead, our approach ennblw the team as a whole to successfull) accomplish the sensor drolovmcnt task. Our aDoronch imoltes the use of line-of-sight Our approach to mobile sensor net deployment involves the collaboration of three types of robots. The first type is the mobile Sensor Node, which bas the ability to move and perform acoustic sensing, but cannot localize or avoid obstacles. The second type is a more capable Leader Helper robot. The Leuder Helper robot has a laser scanner that allows it to oerform localization using a method such as 121. The . . __ - . _ formation keeping, which enables the follower robot to use visual markers the leader robot. We present results of the implementation of this approach in simuIatiou, as Bs results to date in the implementation on physical robot systems. To our knowledge, this is the first implementation of robot herding using such highly heterogeneous robofs, in which no single type of mbat could accomplish the sensor network deployment task, even if multiple copies of that robot type were available.
Likewise, Parker et al. REF deployed a team of mobiles to form an indoor sensor network.
Heterogeneous mobile sensor net deployment using robot herding and line-of-sight formations
Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)
Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)
Computer Science