Efficient Multi-Robot Coverage of a Known Environment

This paper addresses the complete area coverage problem of a known environment by multiple-robots. Complete area coverage is the problem of moving an end-effector over all available space while avoiding existing obstacles. In such tasks, using multiple robots can increase the efficiency of the area coverage in terms of minimizing the operational time and increase the robustness in the face of robot attrition. Unfortunately, the problem of finding an optimal solution for such an area coverage problem with multiple robots is known to be NP-complete. In this paper we present two approximation heuristics for solving the multi-robot coverage problem. The first solution presented is a direct extension of an efficient single robot area coverage algorithm, based on an exact cellular decomposition. The second algorithm is a greedy approach that divides the area into equal regions and applies an efficient single-robot coverage algorithm to each region. We present experimental results for two algorithms. Results indicate that our approaches provide good coverage distribution between robots and minimize the workload per robot, meanwhile ensuring complete coverage of the area.Comment: In proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 201

K-coverage in regular deterministic sensor deployments

An area is k-covered if every point of the area is covered by at least k sensors. K-coverage is necessary for many applications, such as intrusion detection, data gathering, and object tracking. It is also desirable in situations where a stronger environmental monitoring capability is desired, such as military applications. In this paper, we study the problem of k-coverage in deterministic homogeneous deployments of sensors. We examine the three regular sensor deployments - triangular, square and hexagonal deployments - for k-coverage of the deployment area, for k ≥ 1. We compare the three regular deployments in terms of sensor density. For each deployment, we compute an upper bound and a lower bound on the optimal distance of sensors from each other that ensure k-coverage of the area. We present the results for each k from 1 to 20 and show that the required number of sensors to k-cover the area using uniform random deployment is approximately 3-10 times higher than regular deployments

Estimasi Luas Coverage Area Dan Jumlah Sel 3G Pada Teknologi WCDMA (Wideband Code Division Multiple Access)

Seiring dengan berkembangnya teknologi seluler yang mampu memberikan layanan berupa voice dan data (internet) tentu membutuhkan maintenance di tiap tahunnya, baik berupa perawatan alat maupun penambahan jumlah BTS. Penulisan skripsi ini bertujuan untuk memberikan estimasi luas coverage area dan jumlah sel 3G di kota Malang dari tahun 2014 sampai 2016. Berdasarkan hasil perhitungan yang dilakukan, diperoleh luas coverage area mengalami penurunan di tiap tahunnya dan berdampak pada jumlah sel di kota Malang. Dari 5 kecamatan di kota Malang, didapat penambahan 85 sel sampai tahun 2016, penambahan sel terbanyak terletak di kecamatan Klojen dengan 22 sel, sedangkan penambahan sel paling sedikit terletak di kecamatan Kedungkandang dengan 11 sel, sedangkan penurunan radius sel paling besar terletak di kecamatan Lowokwaru dengan 0,19 km dan penurunan radius sel paling kecil terletak di kecamatan Blimbing dengan 0,09 km.Kata Kunci – 3G, Coverage, Se

Self-optimized Coverage Coordination in Femtocell Networks

This paper proposes a self-optimized coverage coordination scheme for two-tier femtocell networks, in which a femtocell base station adjusts the transmit power based on the statistics of the signal and the interference power that is measured at a femtocell downlink. Furthermore, an analytic expression is derived for the coverage leakage probability that a femtocell coverage area leaks into an outdoor macrocell. The coverage analysis is verified by simulation, which shows that the proposed scheme provides sufficient indoor femtocell coverage and that the femtocell coverage does not leak into an outdoor macrocell.Comment: 16 pages, 5 figure

Traffic agents for improving QoS in mixed infrastructure and ad hoc modes wireless LAN

As an important complement to infrastructured wireless networks, mobile ad hoc networks (MANET) are more flexible in providing wireless access services, but more difficult in meeting different quality of service (QoS) requirements for mobile customers. Both infrastructure and ad hoc network structures are supported in wireless local area networks (WLAN), which can offer high data-rate wireless multimedia services to the mobile stations (MSs) in a limited geographical area. For those out-of-coverage MSs, how to effectively connect them to the access point (AP) and provide QoS support is a challenging issue. By mixing the infrastructure and the ad hoc modes in WLAN, we propose in this paper a new coverage improvement scheme that can identify suitable idle MSs in good service zones as traffic agents (TAs) to relay traffic from those out-of-coverage MSs to the AP. The service coverage area of WLAN is then expanded. The QoS requirements (e.g., bandwidth) of those MSs are considered in the selection process of corresponding TAs. Mathematical analysis, verified by computer simulations, shows that the proposed TA scheme can effectively reduce blocking probability when traffic load is light