Multi-robot Patrolling in Wireless Sensor Networks using Bounded Cycle Coverage

Mihai-Ioan Popescu 1, 2 Hervé Rivano 3, 4 Olivier Simonin 1, 2
2 CHROMA - Robots coopératifs et adaptés à la présence humaine en environnements dynamiques
CITI - CITI Centre of Innovation in Telecommunications and Integration of services, Inria Grenoble - Rhône-Alpes
4 URBANET - Réseaux capillaires urbains
CITI - CITI Centre of Innovation in Telecommunications and Integration of services, Inria Grenoble - Rhône-Alpes
Abstract : Patrolling is mainly used in situations where the need of repeatedly visiting certain places is critical. In this paper, we consider a deployment of a wireless sensor network (WSN) that cannot be fully meshed because of the distance or obstacles. Several robots are then in charge of getting close enough to the nodes in order to connect to them, and perform a patrol to collect all the data in time. We discuss the problem of multi-robot patrolling within the constrained wireless networking settings. We show that this is fundamentally a problem of vertex coverage with bounded simple cycles (CBSC). We offer a formalization of the CBSC problem and prove it is NP-hard and at least as hard as the Traveling Salesman Problem (TSP). Then, we provide and analyze heuristics relying on clusterings and geometric techniques. The performances of our solutions are assessed in regards to robot limitations (storage and energy), networking parameters, but also to random and particular graph models.
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Conference papers
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https://hal.archives-ouvertes.fr/hal-01357866
Contributor : Olivier Simonin <>
Submitted on : Tuesday, August 30, 2016 - 3:25:22 PM
Last modification on : Saturday, October 27, 2018 - 1:20:15 AM

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Mihai-Ioan Popescu, Hervé Rivano, Olivier Simonin. Multi-robot Patrolling in Wireless Sensor Networks using Bounded Cycle Coverage. ICTAI 2016 28th International Conference on Tools with Artificial Intelligence, IEEE, Nov 2016, San Jose, United States. ⟨hal-01357866⟩

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