Efficient Search Algorithms using Autonomous Mobile Sensor Nodes

In this paper, we propose search algorithms using multiple autonomous and cooperative mobile sensor nodes (MSN). Our goal is to minimize the total search time and the travel distance of MSNs in a given search area while enabling cooperation among the MSNs and tolerating possible failures of one or more MSNs. We first describe a Lane Based Search (LBS) strategy in which each mobile sensor node is in charge of a sub-area called a lane. We then propose and analyze three distributed synchronization schemes, namely Alternating Column Synchronization (ACS), Strict Line Synchronization (SLS), and X Line Synchronization (XS) which are essential for co-operation and fault tolerance to MSN failures. Simulations were performed to evaluate their performances in terms of the total search time and the average travel distance. We show through simulation results and numerical analysis that X synchronization with appropriate parameters outperforms alternating column synchronization and strict line synchronization.