Title: Mobile Robot Coordination and navigation with directional antennas in positionless Wireless Sensor Networks

Authors: Jehn-Ruey Jiang, Yung-Liang Lai, Fu-Cheng Deng

Addresses: Department of Computer Science and Information Engineering, National Central University, Jhongli City, Taoyuan 320, Taiwan. ' Department of Computer Science and Information Engineering, National Central University, Jhongli City, Taoyuan 320, Taiwan. ' Department of Computer Science and Information Engineering, National Central University, Jhongli City, Taoyuan 320, Taiwan

Abstract: Three schemes are proposed to coordinate and navigate mobile robots with directional antennas in a positionless wireless sensor network for the purpose of emergency rescue. The k-farthest-node forwarding scheme is for Waiting-for-Rescue (WFR) nodes to broadcast packets to ask mobile robots to come to help. The Mobile Robot Coordination (MRC) is to coordinate multiple mobile robots so that each WFR node is associated one nearby mobile node which is navigated by the Tree Assisted Navigation (TAN) scheme to fast reach the WFR node. The schemes| effectiveness is verified by the ns-2 simulator.

Keywords: mobile robots; wireless sensor networks; robot coordination; robot navigation; directional antennas; positionless WSNs; wireless networks; emergency rescue; ns-2; simulation; rescue systems; battlefield rescue; wounded rescue.

DOI: 10.1504/IJAHUC.2011.040775

International Journal of Ad Hoc and Ubiquitous Computing, 2011 Vol.7 No.4, pp.272 - 280

Published online: 23 Jun 2011 *

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