Self organized sensor deployment with Brownian motion in wireless sensor and robot networks

In this paper, we propose a novel self organized sensor deployment protocol to ensure proper surveillance through better coverage in urban search and rescue (USAR) operations using customized Brownian motion scheme. Specifically, we use density control over Brownian Motion (DCBM) to make an adaptive self deployment protocol which can be used on heterogeneous wireless sensor and robot networks. Generally, Brownian Motion scatters particles in a random manner with disjoint behaviour which is not appropriate to be used as a mobility model for wireless network. Additionally, the model has higher collision rate among the moving particles. To avoid the previous two issues, every node in the network computes node density and decides particular direction at any timestamp. The nodes may take pause in their movement and start over from that location instead of starting every time from the initial starting point to make the model behave continuously. We simulated DCBM scheme on a series of different topologies and compared with Random waypoint model that shows promising insights.