Date of Original Version

10-2010

Type

Conference Proceeding

Rights Management

© 2010 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

Abstract or Description

Hybrid sensor networks consisting of both in-expensive static wireless sensors and highly capable mobile robots have the potential to monitor large environments at a low cost. To do so, an algorithm is needed to assign tasks to mobile robots which minimizes communication among the static sensors in order to extend the lifetime of the network. We present three algorithms to solve this task allocation problem: a centralized algorithm, an auction-based algorithm, and a novel distributed algorithm utilizing a spanning tree over the static sensors to assign tasks. We compare the assignment quality and communication costs of these algorithms experimentally. Our experiments show that at a small cost in assignment quality, the distributed tree-based algorithm significantly extends the lifetime of the static sensor network.

DOI

10.1109/IROS.2010.5649893

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Published In

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010, 2932-2937.