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Understanding the locations of occupants in a commercial built environment is critical for realizing energy savings by delivering lighting, heating, and cooling only where it is needed. The key to achieving this goal is being able to…
This report considers the class of applications of sensor networks in which each sensor node makes measurements, such as temperature or humidity, at the precise location of the node. Such spot-sensing applications approximate the physical…
Navigating dynamic and unstructured environments poses significant challenges for autonomous robots, particularly due to the uncertainty introduced by occluded areas. Conventional sensing methods often fail to detect obstacles hidden behind…
We investigate the problem of using mobile robots equipped with 2D range sensors to optimally guard perimeters or regions, i.e., 1D or 2D sets. Given such a set of arbitrary shape to be guarded, and $k$ mobile sensors where the $i$-th…
Location-based services in a wireless network require nodes to know their locations accurately. Conventional solutions rely on contention-based medium access, where only one node can successfully transmit at any time in any neighborhood. In…
Assuming a random uniform distribution of n sensor nodes over a virtual grid, this paper addresses the problem of finding the maximum number of connected set covers each ensuring 100% coverage of the query region. The connected sets remain…
Cooperative geolocation has attracted significant research interests in recent years. A large number of localization algorithms rely on the availability of statistical knowledge of measurement errors, which is often difficult to obtain in…
We study a mobile wireless sensor network (MWSN) consisting of multiple mobile sensors or robots. Two key issues in MWSNs - energy consumption, which is dominated by sensor movement, and sensing coverage - have attracted plenty of…
Geographic routing is becoming the protocol of choice for many sensor network applications. The current state of the art is unsatisfactory: some algorithms are very efficient, however they require a preliminary planarization of the…
We study the problem of assigning non-overlapping geometric objects centered at a given set of points such that the sum of area covered by them is maximized. If the points are placed on a straight-line and the objects are disks, then the…
We propose a distributed positioning algorithm to estimate the unknown positions of a number of target nodes, given distance measurements between target nodes and between target nodes and a number of reference nodes at known positions.…
Cooperation between mobile robots and wireless sensor networks is a line of research that is currently attracting a lot of attention. In this context, we study the following problem of barrier coverage by stationary wireless sensors that…
We are given a set of sensors at given locations, a set of potential locations for placing base stations (BSs, or sinks), and another set of potential locations for placing wireless relay nodes. There is a cost for placing a BS and a cost…
Although monitoring and covering are fundamental goals of a wireless sensor network (WSN), the accidental death of sensors or the running out of their energy would result in holes in the WSN. Such holes have the potential to disrupt the…
Humans are remarkable at navigating and moving through dynamic and complex spaces, such as crowded streets. For robots to do the same, it is crucial that they are endowed with highly reactive obstacle avoidance robust to partial and poor…
We consider the Set Once Strip Cover problem, in which n wireless sensors are deployed over a one-dimensional region. Each sensor has a fixed battery that drains in inverse proportion to a radius that can be set just once, but activated at…
Motivated by secure wireless networking, we consider the problem of placing fixed localizers that enable mobile communication devices to prove they belong to a secure region that is defined by the interior of a polygon. Each localizer views…
Barrier coverage is a critical issue in wireless sensor networks for many practical applications,e.g., national border monitoring, security surveillance and intruder detection, etc. Its aim is to detect intruders that attempt to cross the…
Determining whether nodes can be localized, called localizability detection, is essential for wireless sensor networks (WSNs). This step is required for localizing nodes, achieving low-cost deployments, and identifying prerequisites in…
The implicit convex feasibility problem attempts to find a point in the intersection of a finite family of convex sets, some of which are not explicitly determined but may vary. We develop simultaneous and sequential projection methods…