Event-based motion control for mobile-sensor networks

In many sensor networks, considerably more units are available than necessary for simple coverage of the space. Augmenting sensor networks with motion can exploit this surplus to enhance sensing while also improving the network's lifetime and reliability. Sensor mobility allows better coverage in areas where events occur frequently. Another use of mobility comes about if the specific area of interest (within a larger area) is unknown during deployment. We've developed distributed algorithms for mobile-sensor networks to physically react to changes or events in their environment or in the network itself. Distribution supports scalability and robustness during sensing and communication failures. We present two classes of motion-control algorithms that let sensors converge on arbitrary event distributions. These algorithms trade off the amount of required computation and memory with the accuracy of the sensor positions. We also present three algorithms that let sensor networks maintain coverage of their environment. These algorithms work alongside either type of motion-control algorithm such that the sensors can follow the control law unless they must stop to ensure coverage.