Sensor-deployment strategies for indoor robot navigation

Chun Han Lin*, Chung Ta King

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

14 Citations (Scopus)


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 languageEnglish
Article number5338006
Pages (from-to)388-398
Number of pages11
JournalIEEE Transactions on Systems, Man, and Cybernetics Part A:Systems and Humans
Issue number2
Publication statusPublished - 2010 Mar
Externally publishedYes


  • 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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