Movement based connectivity restoration system for wireless sensor and actor networks

A k-connected wireless sensor and actor network (WSAN) has k independent paths to route between each node pair. Having high k value for a network is important in terms of fault tolerance and reliability. When a node in a network fails, k value can be kept constant by moving existing active nodes to desired locations. The aim of the k-connectivity restoration process is to maintain the current k value of the network at a constant value. In this study, a movement based restoration system is developed using IRIS nodes and Kobuki robots. The general architecture of the system is given, software and communication design are presented. The proposed system can be used as an infrastructure in various WSAN applications.