Mobility

Topology Control in Sensor, Actuator and Mobile Robot Networks

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Executive Summary

The efficiency of many sensor network algorithms depends on characteristics of the underlying connectivity, such as the length and density of links. It is therefore a common practice to control the number and nature of links that are to be used among all potentially available links. Such topology control can be achieved by modifying the transmission radii, selecting a given subset of the links, or moving some nodes (if such functionality is available). This paper reviews some of these problems, and related solutions applicable to the context of sensor and actuator networks. Spanning structures and minimum weight connectivity are first discussed, and some applications for power efficient and delay bounded data aggregation are described.

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