Maximizing the Probability of k-Covering an Event Location

In various sensor network applications like monitoring and target localization, the occurrence of an event can only be effectively located if it falls within the sensing range of at least k ≥ 3 sensors. In this paper, we develop an algorithm to optimize to optimize the positions and orientations of heterogeneous sensors in order to maximize the probability of an event location being k-covered. Our proposed algorithms can handle rotatable mobile sensors with directional sensing regions. We show that our proposed algorithm converges to a local optimal solution, and present numerical results to verify its performance.