Abstract
In the application of the wireless sensor and robot networks (WSRNs), there is an urgent need to accommodate flexible surveillance tasks in intricate surveillance scenarios. On the condition of flexible surveillance missions and demands, event coverage holes occur in the networks. The conventional network repair methods based on the geometric graph theory such as Voronoi diagram method are unable to meet the conditions of flexible surveillance tasks and severe multi-restraint scenarios. Mobile robots show obvious advantages in terms of adaptation capacity and mobility in hazardous and severe scenarios. First, we propose an event coverage hole healing model for multi-constrained scenarios. Then, we propose a joint event coverage hole repair algorithm (JECHR) on the basis of global repair and local repair to apply mobile robots to heal event coverage holes in WSRNs. Different from conventional healing methods, the proposed algorithm can heal event coverage holes efficaciously which are resulted from changing surveillance demands and scenarios. The JECHR algorithm can provide an optimal repair method, which is able to adapt different kinds of severe multi-constrained circumstances. Finally, a large number of repair simulation experiments verify the performance of the JECHR algorithm which can be adapted to a variety of intricate surveillance tasks and application scenarios.
Highlights
The research of event coverage hole repair is significant in wireless sensor and robot networks (WSRNs) [1,2,3,4]
The above coverage strategy is only able to improve the event coverage performance provisionally that is not able to heal all the event coverage holes in WSRNs
Joint Event Coverage Hole Repair Algorithm In Algorithm 3, the local healing procedure is conducted before the global healing
Summary
The research of event coverage hole repair is significant in wireless sensor and robot networks (WSRNs) [1,2,3,4]. In a real environment, it is indispensable to use different kinds of sensors to heal event coverage holes on the basis of flexible surveillance demands [6]. If the surveillance events and demands vary, or the nodes break in the surveillance scenarios, it will cost lots of effort and funds to redeploy and heal the networks. The healing procedure is limited by strict cost restraints and energy restraints; in poaching surveillance, it is necessary to quickly identify poachers, accurately confirm the location of poachers, and control the repair cost of the event coverage holes. The mobile robots are used to heal coverage holes in WSRNs. The mobile robots are applied to take different kinds of nodes to heal networks with a reasonable healing strategy.
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