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Carrier-based sensor placement involves mobile robots carrying and dropping (static) sensors for optimal coverage formation. Existing solutions target at traditional area coverage problem and unrealistically assume that robots carry sensors all together (ignoring the physical dimension of sensors and the limit of robot capacity). In this paper, the authors consider realistic scenarios that robots have to repeatedly reload sensors and address the FOCUSED coverage (F-coverage) problem in an unknown two-dimensional environment. In F-coverage, sensors are required to surround a Point Of Interest (POI), maximizing coverage radius. They propose a Carrier-Based Coverage Augmentation protocol (CBCA). Robots enter the environment from fixed locations, called base points, and move toward the POI.
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