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Mobile entity navigation in dynamic environments is an essential part of many mission critical applications like search and rescue and fire fighting. The dynamism of the environment necessitates the mo-bile entity to constantly maintain a high degree of awareness of the changing environment. This criteria makes it difficult to achieve good navigation performance by using just on-board sensors and existing navigation methods and motivates the use of Wireless Sensor Networks (WSNs) to aid navigation. In this paper, the authors present a novel approach that integrates a roadmap based navigation algorithm with a novel WSN query protocol called Roadmap Query (RQ). RQ enables collection of frequent, up-to-date information about the surrounding environment, thus allowing the mobile entity to make good navigation decisions.
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