TY - GEN
T1 - Optimized trajectory of a robot deploying wireless sensor nodes
AU - Khoufi, Ines
AU - Livolant, Erwan
AU - Minet, Pascale
AU - Hadded, Mohamed
AU - Laouiti, Anis
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2015/1/23
Y1 - 2015/1/23
N2 - Mobile robots can be used to deploy static wireless sensor nodes to achieve the coverage and connectivity requirements of the applications considered. Many solutions have been provided in the literature to compute the set of locations where the sensor nodes should be placed. In this paper, we show how this set of locations can be used by a mobile robot to optimize its tour to deploy the sensor nodes to their right locations. In order to reduce both the energy consumed by the robot, its exposure time to a hostile environment, as well as the time at which the wireless network becomes operational, the optimal tour of the robot is this minimizing the delay. This delay must take into account not only the time needed by the robot to travel the tour distance but also the time spent in the rotations performed by the robot each time it changes its direction. This problem is called the Robot Deploying Sensor nodes problem, in short RDS. We first show how this problem differs from the well-known traveling salesman problem. We then propose an integer linear program formulation of the RDS problem. We propose various algorithms relevant to iterative improvement by exchanging tour edges, genetic approach and hybridization. The solutions provided by these algorithms are compared and their closeness to the optimal is evaluated in various configurations.
AB - Mobile robots can be used to deploy static wireless sensor nodes to achieve the coverage and connectivity requirements of the applications considered. Many solutions have been provided in the literature to compute the set of locations where the sensor nodes should be placed. In this paper, we show how this set of locations can be used by a mobile robot to optimize its tour to deploy the sensor nodes to their right locations. In order to reduce both the energy consumed by the robot, its exposure time to a hostile environment, as well as the time at which the wireless network becomes operational, the optimal tour of the robot is this minimizing the delay. This delay must take into account not only the time needed by the robot to travel the tour distance but also the time spent in the rotations performed by the robot each time it changes its direction. This problem is called the Robot Deploying Sensor nodes problem, in short RDS. We first show how this problem differs from the well-known traveling salesman problem. We then propose an integer linear program formulation of the RDS problem. We propose various algorithms relevant to iterative improvement by exchanging tour edges, genetic approach and hybridization. The solutions provided by these algorithms are compared and their closeness to the optimal is evaluated in various configurations.
U2 - 10.1109/WD.2014.7020826
DO - 10.1109/WD.2014.7020826
M3 - Conference contribution
AN - SCOPUS:84937806194
T3 - IFIP Wireless Days
BT - 2014 IFIP Wireless Days, WD 2014
A2 - Costa, Luis Henrique Maciel Kosmalski
A2 - Campista, Miguel Elias Mitre
A2 - Ziviani, Artur
A2 - Sengul, Cigdem
A2 - Nogueira, Jose-Marcos
A2 - Domenech, Josep
A2 - Rubinstein, Marcelo Goncalves
A2 - Velloso, Pedro Braconnot
A2 - Moraes, Igor Monteiro
PB - IEEE Computer Society
T2 - 7th IFIP/IEEE Wireless Days Conference, WD 2014
Y2 - 12 November 2014 through 14 November 2014
ER -