Kim Jonghoek
IEEE Trans Cybern. 2019 Jul;49(7):2771-2778. doi: 10.1109/TCYB.2018.2835824. Epub 2018 Jun 7.
An information (sensor) network can be used to monitor various 3-D environments, such as underwater environments. To build an information network in 3-D environments, we use multiple robots deploying information nodes. Our 3-D networking strategy results in the network without coverage holes and does not require the global localization of a node or a robot. We assume that as the size of each sensor coverage decreases, the power consumption of the sensor decreases. Thus, once the 3-D network is built by multiple robots, each node searches for the smallest size of its sensing coverage while assuring that there is no hole in the global coverage. In this way, we save the power consumption while preserving the global coverage. Note that each node searches for its optimal sensing coverage by accessing the relative positions of its neighbors only once. This implies that energy consumption of searching for the optimal coverage is very low. Using MATLAB simulations, we verify the scalability and effectiveness of our strategies in 3-D environments.
信息（传感器）网络可用于监测各种三维环境，如水下环境。为了在三维环境中构建信息网络，我们使用多个机器人来部署信息节点。我们的三维组网策略可形成无覆盖漏洞的网络，并且不需要节点或机器人进行全局定位。我们假设随着每个传感器覆盖范围的减小，传感器的功耗也会降低。因此，一旦由多个机器人构建了三维网络，每个节点在确保全局覆盖无漏洞的同时，搜索其传感覆盖的最小尺寸。通过这种方式，我们在保持全局覆盖的同时节省了功耗。请注意，每个节点只需访问一次邻居的相对位置即可搜索其最佳传感覆盖范围。这意味着搜索最佳覆盖范围的能耗非常低。通过MATLAB仿真，我们验证了我们的策略在三维环境中的可扩展性和有效性。
