NDLI: HybridExploration: A distributed approach to terrain exploration using mobile and fixed sensor nodes

Content Provider	IEEE Xplore Digital Library
Author	Ferranti, E. Trigoni, N. Levene, M.
Copyright Year	2008
Description	Author affiliation: Comput. Lab., Univ. of Oxford, Oxford (Ferranti, E.; Trigoni, N.)
Abstract	When an emergency occurs within a building, it may be initially safer to send autonomous mobile nodes, instead of human responders, to explore the area and identify hazards and victims. Exploring all the area in the minimum amount of time and reporting back interesting findings to the human personnel outside the building is an essential part of rescue operations. Our assumptions are that the area map is unknown, there is no existing network infrastructure, long-range wireless communication is unreliable and nodes are not location-aware. We take into account these limitations, and propose a novel algorithm, HybridExploration, that makes use of both mobile nodes (robots, called agents) and stationary nodes (inexpensive smart devices, called tags). As agents enter the emergency area, they sprinkle tags within the space to label the environment with states. By reading and updating the state of the local tags, agents are able to coordinate indirectly with each other, without relying on direct agent-to-agent communication. In addition, tags wirelessly exchange local information with nearby tags to further assist agents in their exploration task. Our simulation results show that the proposed algorithm, which exploits both tag-to-tag and agent-to-tag communication, outperforms previous algorithms that rely only on agent-to-tag communication.
Starting Page	1280
Ending Page	1286
File Size	1817734
Page Count	7
File Format	PDF
ISBN	9781424420575
DOI	10.1109/IROS.2008.4650699
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-22
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Protocols Robot sensing systems Buildings Humans Navigation Wireless sensor networks Government
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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