We introduce an ultra-low complexity decentralized control scheme for adhoc mobile sensor networks that can be used for a great variety of sensing tasks. Sensor networks using this control scheme are easy to configure, can operate completely autonomously without supervision, and automatically adapt to various environmental changes. Moreover, they are robust to individual sensor failure as well as other disturbances and scale very well. Finally, they allow for simple dynamic adhoc networks that can route data based on available sensor connectivity. We demonstrate the versatility and effectiveness of sensor homogeneous and heterogeneous sensor networks using the proposed control scheme in simulations of unmanned aerial vehicles performing target detection, tracking, and reporting tasks.
@inproceedings{scheutz13icdipc,
title={Ultra-Low Complexity Control for AdHoc Mobile Sensor Networks},
author={Scheutz, Matthias},
year={2013},
booktitle={The Third International Conference on Digital Information Processing and Communications},
pages={346--357}
url={https://hrilab.tufts.edu/publications/scheutz13icdipc.pdf}
}