On the Optimal Robot Routing Problem in Wireless Sensor Networks

Abstract

This paper targets the identification of outlying sensors (that is, outlying reading sensors) and the detection of the reach of events in sensor networks. Typical applications include the detection of the transportation front line of some vegetation or animalcule's growth over a certain geographical region. We propose and analyze two novel algorithms for outlying sensor identification and event boundary detection. These algorithms are purely localized and, thus, scale well to large sensor networks. Their computational overhead is low, since only simple numerical operations are involved. Simulation results indicate that these algorithms can clearly detect the event boundary and can identify outlying sensors with a high accuracy and a low false alarm rate when as many as 20 percent sensors report outlying readings. Our work is exploratory in that the proposed algorithms can accept any kind of scalar values as inputs?a dramatic improvement over existing work, which takes only 0/1 decision predicates. Therefore, our algorithms are generic. They can be applied as long as events? can be modeled by numerical numbers. Though designed for sensor networks, our algorithms can be applied to the outlier detection and regional data analysis in spatial data mining.