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.

Fog computing: a cloud to the ground support for smart things and machine-to-machine networks

Cloud services to smart things face latency and intermittent connectivity issues. Fog devices are positioned between cloud and smart devices. Their high speed Internet connection to the cloud, and physical proximity to users, enable real time applications and location based services, and mobility support. Cisco promoted fog computing concept in the areas of smart grid, connected vehicles and wireless sensor and actuator networks. This survey article expands this concept to the decentralized smart building control, recognizes cloudlets as special case of fog computing, and relates it to the software defined networks (SDN) scenarios. Our literature review identifies a handful number of articles. Cooperative data scheduling and adaptive traffic light problems in SDN based vehicular networks, and demand response management in macro station and micro-grid based smart grids are discussed. Security, privacy and trust issues, control information overhead and network control policies do not seem to be studied so far within the fog computing concept.