Localized Sensor Self-deployment with Coverage Guarantee in Complex Environment

In focused coverage problem, sensors are required to be deployed around a given point of interest (POI) with respect to a priority requirement: an area close to POI has higher priority to be covered than a distant one. A localized sensor self-deployment algorithm, named Greedy-Rotation-Greedy (GRG) [10], has recently been proposed for constructing optimal focused coverage. This previous work assumed obstacle-free environment and focused on theoretical aspects. Here in this paper, we remove this strong assumption, and extend GRG to practical settings. We equip GRG with a novel obstacle penetration technique and give it the important obstacle avoidance capability. The new version of GRG is referred to as GRG/OP. Through simulation, we evaluate its performance in comparison with plain GRG.