This project focuses on the development of mobility strategies for Robotic Sensor Networks (RSNs) which are networks of robots equipped with communication, computation and sensing capabilities. For RSN technology to be utilized in critical applications such as emergency response and environmental monitoring, mobility algorithms for operation in dynamic and complex environments are needed.
In this project, three novel mobility problems which arise in many RSN applications are introduced. These problems are general enough to capture the interplay between communication, sensing and mobility. Yet, they can be succinctly formulated as geometric optimization problems. This work will focus on solving these mobility problems which will yield provably correct solutions for numerous RSN applications. In addition, bounds on the performance of a given RSN in fundamental problems such as tracking, collaborative sensing and estimation will be established.
The output of this research will be a significant step toward enabling the use of fully autonomous RSNs for crucial applications in emergency response, energy and environmental monitoring, and health care automation. Sensing and actuation play important roles in the evolution of information technology. The project will contribute to this evolution through the development of novel distributed sensing and control algorithms.
