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CORR
2011
Springer

Detecting Separation in Robotic and Sensor Networks

11 years 6 months ago
Detecting Separation in Robotic and Sensor Networks
In this paper we consider the problem of monitoring detecting separation of agents from a base station in robotic and sensor networks. Such separation can be caused by mobility and/or failure of the agents. While separation/cut detection may be performed by passing messages between a node and the base in static networks, such a solution is impractical for networks with high mobility, since routes are constantly changing. We propose a distributed algorithm to detect separation from the base station. The algorithm consists of an averaging scheme in which every node updates a scalar state by communicating with its current neighbors. We prove that if a node is permanently disconnected from the base station, its state converges to 0. If a node is connected to the base station in an average sense, even if not connected in any instant, then we show that the expected value of its state converges to a positive number. Therefore, a node can detect if it has been separated from the base station ...
Chenda Liao, Harshavardhan Chenji, Prabir Barooah,
Added 13 May 2011
Updated 13 May 2011
Type Journal
Year 2011
Where CORR
Authors Chenda Liao, Harshavardhan Chenji, Prabir Barooah, Radu Stoleru, Tamás Kalmár-Nagy
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