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IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS--PART C: APPLICATIONS AND REVIEWS, VOL. 36, NO. 3, MAY 2006 315 Autonomic Mobile Sensor Network With
 

Summary: IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS--PART C: APPLICATIONS AND REVIEWS, VOL. 36, NO. 3, MAY 2006 315
Autonomic Mobile Sensor Network With
Self-Coordinated Task Allocation and Execution
Kian Hsiang Low, Wee Kheng Leow, Member, IEEE, and Marcelo H. Ang, Jr., Member, IEEE
Abstract--This paper describes a distributed layered architec-
ture for resource-constrained multirobot cooperation, which is uti-
lized in autonomic mobile sensor network coverage. In the upper
layer, a dynamic task allocation scheme self-organizes the robot
coalitions to track efficiently across regions. It uses concepts of ant
behavior to self-regulate the regional distributions of robots in pro-
portion to that of the moving targets to be tracked in a nonstation-
ary environment. As a result, the adverse effects of task interference
between robots are minimized and network coverage is improved.
In the lower task execution layer, the robots use self-organizing neu-
ral networks to coordinate their target tracking within a region.
Both layers employ self-organization techniques, which exhibit au-
tonomic properties such as self-configuring, self-optimizing, self-
healing, and self-protecting. Quantitative comparisons with other
tracking strategies such as static sensor placements, potential fields,
and auction-based negotiation show that our layered approach can

  

Source: Ang Jr.,, Marcelo H. - Department of Mechanical Engineering, National University of Singapore

 

Collections: Engineering