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Coordination in a multi-robot surveillance application using Wireless Sensor Networks

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5 Author(s)
Trigui, S. ; Nat. Sch. of Eng. of Sfax, Univ. of Sfax, Sfax, Tunisia ; Koubaa, A. ; Ben Jamaa, M. ; Chaari, I.
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Cooperative robots and their integration with Wireless Sensor Networks (WSNs) is an expanding area that still deserves significant research efforts. This paper presents a multi-robot surveillance application supported by a WSN. We investigate the problem of multi-robot coordination for target tracking and capturing. One key distinction of our problem model is to consider a WSN that supports the mission of the multi-robot team. We devised three mechanisms: centralized, distributed and market-based algorithms, which were extensively evaluated under the Player/Stage simulator. Simulation results show that the centralized approach is the most likely solution able to maintain an efficient system cost.

Published in:

Electrotechnical Conference (MELECON), 2012 16th IEEE Mediterranean

Date of Conference:

25-28 March 2012