Distributed multi-modal sensor system for searching a foliage-covered region

We designed and constructed a system that includes aircraft, ground vehicles, and throwable sensors to search a semi-forested region that was partially covered by foliage. The system contained 4 radio-controlled (RC) trucks, 2 aircraft, and 30 SensorMotes (throwable sensors). We also investigated communications links, search strategies, and system architecture. Our system is designed to be low-cost, contain a variety of sensors, and distributed so that the system is robust even if individual components are lost.