Placing sensors for area coverage in a complex environment by a team of robots

Existing solutions to carrier-based sensor placement by a single robot in a bounded unknown Region of Interest (ROI) do not guarantee full area coverage or termination. We propose a novel localized algorithm, named Back-Tracking Deployment (BTD). To construct a full coverage solution over the ROI, mobile robots (carriers) carry static sensors as payloads and drop them at the visited empty vertices of a virtual square, triangular, or hexagonal grid. A single robot will move in a predefined order of directional preference until a dead end is reached. Then it back-tracks to the nearest sensor adjacent to an empty vertex (an "entrance" to an unexplored/uncovered area) and resumes regular forward movement and sensor dropping from there. To save movement steps, the back-tracking is carried out along a locally identified shortcut. We extend the algorithm to support multiple robots that move independently and asynchronously. Once a robot reaches a dead end, it will back-track, giving preference to its own path. Otherwise, it will take over the back-track path of another robot by consulting with neighboring sensors. We prove that BTD terminates within finite time and produces full coverage when no (sensor or robot) failures occur. We also describe an approach to tolerate failures and an approach to balance workload among robots. We then evaluate BTD in comparison with the only competing algorithms SLD [Chang et al. 2009a] and LRV [Batalin and Sukhatme 2004] through simulation. In a specific failure-free scenario, SLD covers only 40-50% of the ROI, whereas BTD covers it in full. BTD involves significantly (80%) less robot moves and messages than LRV.

Developing a process model for deployment of radion frequency identification technology (RFID) in hospitals : an action research framework

Radio Frequency Identification (RFlD) technology is increasingly being explored for deployment in hospitals to improve their existing processes. In recent years, RPID pilots has lead to full scale implementation in hospitals, especially for tracking of expensive equipment as well as movable assets that are critical in surgeries. However, academic research is yet to emerge with a generic process model that can be adapted contextually for deployment of RPID in particular hospital settings. In this paper, we propose an action research framework for a pilot implementation of RPID in a large Indian hospital, the experiences of which will contribute to and result, in the development of such a process model.

Following targets for mobile tracking in wireless sensor networks

Traditional tracking solutions in wireless sensor networks based on fixed sensors have several critical problems. First, due to the mobility of targets, a lot of sensors have to keep being active to track targets in all potential directions, which causes excessive energy consumption. Second, when there are holes in the deployment area, targets may fail to be detected when moving into holes. Third, when targets stay at certain positions for a long time, sensors surrounding them have to suffer heavier work pressure than do others, which leads to a bottleneck for the entire network. To solve these problems, a few mobile sensors are introduced to follow targets directly for tracking because the energy capacity of mobile sensors is less constrained and they can detect targets closely with high tracking quality. Based on a realistic detection model, a solution of scheduling mobile sensors and fixed sensors for target tracking is proposed. Moreover, the movement path of mobile sensors has a provable performance bound compared to the optimal solution. Results of extensive simulations show that mobile sensors can improve tracking quality even if holes exist in the area and can reduce energy consumption of sensors effectively.