Election-Based Sensor Deployment and Coverage Maintenance by a Team of Robots

................................................................................................................... viii Chapter 1: Introduction ............................................................................................ 1 1.1 Background Information ................................................................................. 1 1.2 Problem Statement .......................................................................................... 2 1.2.1 Sensor Placement .................................................................................. 2 1.2.2 Coverage Maintenance by Robots ........................................................ 2 1.3 Existing Solutions ........................................................................................... 3 1.3.1 Sensor Placement .................................................................................. 3 1.3.2 Coverage Maintenance.......................................................................... 3 1.4 Motivations and Objectives ............................................................................ 4 1.5 Assumptions .................................................................................................... 4 1.6 Contribution .................................................................................................... 5 1.7 Organization of the Thesis .............................................................................. 5 Chapter 2: Literature Review ................................................................................... 6 2.1 Sensor Self-Deployment ................................................................................. 6 2.2 Sensor Placement by Robots ........................................................................... 7 2.2.1 Least Recently Visited Approach .......................................................... 8 2.2.2 Obstacle-Resistant Robot Deployment Approach .............................. 12 2.2.3 Back-Tracing Deployment Approach ................................................. 17 2.3 Coverage Maintenance by Robots ................................................................ 24 Chapter 3: Election-Based Deployment Algorithm (EBD) .................................. 30 3.1 Sensor Deployment ....................................................................................... 30 3.1.1 Strategy Allocation .............................................................................. 30 3.1.1.1 Initial Strategy Allocation ......................................................... 30 3.1.1.2 Strategy Reallocation ................................................................ 35