Sensor-deployment strategies for indoor robot navigation

Chun Han Lin; Chung Ta King

doi:10.1109/TSMCA.2009.2033373

Sensor-deployment strategies for indoor robot navigation

Chun Han Lin^*, Chung Ta King

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

14 Citations (Scopus)

Abstract

Sensor networks may be deployed to provide external location references to correct configuration errors in indoor robot navigation. Previous work on sensor deployment has considered only sensor and environment models. This paper shows that considering also target models can greatly reduce the deployment cost. We first show how to derive target models for robot navigation and then show that the problem of finding the minimum-cost deployment of a sensor network is NP-hard. The presented algorithms were evaluated through extensive simulations.

Original language	English
Article number	5338006
Pages (from-to)	388-398
Number of pages	11
Journal	IEEE Transactions on Systems, Man, and Cybernetics Part A:Systems and Humans
Volume	40
Issue number	2
DOIs	https://doi.org/10.1109/TSMCA.2009.2033373
Publication status	Published - 2010 Mar
Externally published	Yes

Keywords

Deployment problem
Robot navigation
Sensor network
Target model

ASJC Scopus subject areas

Software
Control and Systems Engineering
Human-Computer Interaction
Computer Science Applications
Electrical and Electronic Engineering

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10.1109/TSMCA.2009.2033373

Cite this

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abstract = "Sensor networks may be deployed to provide external location references to correct configuration errors in indoor robot navigation. Previous work on sensor deployment has considered only sensor and environment models. This paper shows that considering also target models can greatly reduce the deployment cost. We first show how to derive target models for robot navigation and then show that the problem of finding the minimum-cost deployment of a sensor network is NP-hard. The presented algorithms were evaluated through extensive simulations.",

keywords = "Deployment problem, Robot navigation, Sensor network, Target model",

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note = "Funding Information: Manuscript received December 18, 2008. First published November 17, 2009; current version published February 18, 2010. This work was supported in part by the National Science Council (NSC), Taiwan, under Grants NSC 96-2218-E-007-009 and NSC 96-2219-E-007-008, and in part by the Ministry of Economic Affairs, Taiwan, under Grant 96-EC-17-A-04-S1-044. This paper was recommended by Associate Editor K. Hirota.",

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AB - Sensor networks may be deployed to provide external location references to correct configuration errors in indoor robot navigation. Previous work on sensor deployment has considered only sensor and environment models. This paper shows that considering also target models can greatly reduce the deployment cost. We first show how to derive target models for robot navigation and then show that the problem of finding the minimum-cost deployment of a sensor network is NP-hard. The presented algorithms were evaluated through extensive simulations.

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KW - Sensor network

KW - Target model

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Sensor-deployment strategies for indoor robot navigation

Abstract

Keywords

ASJC Scopus subject areas

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