Abstract: A method for evaluating performance of a sensor network. The method includes selecting, a sensor distribution pattern for a geographical region and determining a location for a base station. A plurality of sensor clusters are generated, each sensor cluster being formed by one of a first and second grouping mechanism. Further, the method allocates, for each sensor a time-slot within a time-frame to transmit a data packet from the sensor to the base station, and evaluates the performance of the first grouping mechanism and the second grouping mechanism for the selected sensor distribution pattern and base station location, by computing at least a ratio of delivered data packets to the base station to a total energy consumption, and a first delay and a second delay incurred by each data packet.

Abstract: Aspects of the disclosure provide a method for selecting a relay node at a first node for transmitting a packet from the first node to a destination node in a wireless sensor network that includes a plurality of nodes. The method can include establishing a transmission angle within which the relay node is preferentially selected, wherein a bounding box surrounding the destination node is between a first side and a second side of the transmission angle, and selecting a second node having a highest remaining energy level among energy levels of neighbor nodes of the first node within the transmission angle to be the relay node. In one example, the candidate nodes for selecting the second node have a remaining energy level above a threshold.

Abstract: A multi-robot task allocation system includes a plurality of robots communicably coupled via a network. Additionally, the multi-robot task allocation system includes a remote device communicably coupled to the plurality of robots via the network, wherein each of the plurality of robots includes processing circuitry configured to determine when an auction to perform a task is open for bidding. Further, the processing circuitry can calculate a bid for the task, transmit the bid to an auctioneer, receive allocation of the task in response to transmitting the maximum bid, and travel to and execute the allocated task in response to receiving allocation of the task, while also participating in any subsequent auctions.

Abstract: A dynamic multi-objective task allocation system within robotic networks that assigns tasks in real-time as they are detected, the system including a sensing device that detects a trigger event, the trigger event being associated with a task to be performed, and transmits a broadcast signal to a designated robotic network, the robotic network including one or more robots, the broadcast signal including information associated with the task to be performed, the trigger event, the task to be performed, and a location where the task is to be performed; and a distribution robot that receives broadcast signal from the sensing device, assigns itself a self-score associated with performing the task, transmits, to one or more receiving robots within the robotic network, a request for submission of an assessment score of each one of the one or more robots, and determines which robot is assigned to perform the task.

Abstract: Aspects of the disclosure provide a method for restoring connectivity among partitioned segments in a partitioned wireless sensor and actor network (WSAN). The method includes placing batches of mobile nodes at locations surrounding mobile nodes previously placed within a damaged area of the partitioned WSAN, spreading the batches of mobile nodes, determining whether connectivity among the partitioned segments has been restored, and repeating placing batches of mobile nodes, spreading the patches of mobile nodes, and determining whether connectivity among the partitioned segments has been restored when connectivity among the partitioned segments is not restored. The method is based on a distributed dropping approach which introduces minimal disruption to previously deployed mobile nodes, and decreases total travelled distance a mobile node might move compared with a traditional central dropping approach.

Abstract: Described herein is a method of deploying sensors by a robot in a geographical region. The robot receives a first instruction including information corresponding to the geographical region and a second instruction indicating one of a first manner and a second manner of deploying sensors. The robot computes a path to traverse the region in a plurality of steps, each step of the plurality of steps having a predetermined magnitude. The robot traverses until a stopping condition is satisfied. The robot deploys sensors at each traversed step size and further receives from each deployed sensor, information indicating absence of sensors in a neighboring area of the deployed sensor. Additionally, the robot repeats the traversing and deploying of sensors in the neighboring area to provide full coverage.

Abstract: A method for evaluating performance of a sensor network. The method includes selecting, a sensor distribution pattern for a geographical region and determining a location for a base station. A plurality of sensor clusters are generated, each sensor cluster being formed by one of a first and second grouping mechanism. Further, the method allocates, for each sensor a time-slot within a time-frame to transmit a data packet from the sensor to the base station, and evaluates the performance of the first grouping mechanism and the second grouping mechanism for the selected sensor distribution pattern and base station location, by computing at least a ratio of delivered data packets to the base station to a total energy consumption, and a first delay and a second delay incurred by each data packet.

Abstract: A system and method of determining a data collection routing protocol include the steps of perceiving a broadcast beacon message from an i-th sensor node located at an i-th sensor level by one or more sensor nodes at one or more other sensor levels of a divided WSN, wherein the i-th sensor level does not include a first sensor level of a sink sensor node; resetting the respective sensor level of the one or more sensor nodes to an (i+1)th sensor level; attempting to connect the i-th sensor node at the i-th sensor level to another sensor node located at an (i?1)th sensor level; and connecting the i-th sensor node to a parent sensor node at the i-th sensor level when certain conditions are met. These conditions are determined and analyzed locally at each sensor node.

Abstract: A system and method of determining a data collection routing protocol include the steps of perceiving a broadcast beacon message from an i-th sensor node located at an i-th sensor level by one or MOW sensor nodes at one or more other sensor levels of a divided WSN, wherein the i-th sensor level does not include a first sensor level of a sink sensor node; resetting the respective sensor level of the one or more sensor nodes to an (i+1)th sensor level; attempting to connect the i-th sensor node at the i-th sensor level to another sensor node located at an (i?1)th sensor level; and connecting the i-th sensor node to a parent sensor node at the 1-th sensor level when certain conditions are met. These conditions are determined and analyzed locally at each sensor node.

Abstract: A method for evaluating performance of a sensor network. The method includes selecting, a sensor distribution pattern for a geographical region and determining a location for a base station. A plurality of sensor clusters are generated, each sensor cluster being formed by one of a first and second grouping mechanism. Further, the method allocates, for each sensor a time-slot within a time-frame to transmit a data packet from the sensor to the base station, and evaluates the performance of the first grouping mechanism and the second grouping mechanism for the selected sensor distribution pattern and base station location, by computing at least a ratio of delivered data packets to the base station to a total energy consumption, and a first delay and a second delay incurred by each data packet.

Abstract: A system and method of determining a data collection routing protocol include the steps of perceiving a broadcast beacon message from an i-th sensor node located at an i-th sensor level by one or more sensor nodes at one or more other sensor levels of a divided WSN, wherein the i-th sensor level does not include a first sensor level of a sink sensor node; resetting the respective sensor level of the one or more sensor nodes to an (i+1)th sensor level; attempting to connect the i-th sensor node at the i-th sensor level to another sensor node located at an (i?1)th sensor level; and connecting the i-th sensor node to a parent sensor node at the i-th sensor level when certain conditions are met. These conditions are determined and analyzed locally at each sensor node.

Abstract: A system and method of determining a data collection routing protocol include the steps of perceiving a broadcast beacon message from an i-th sensor node located at an i-th sensor level by one or more sensor nodes at one or more other sensor levels of a divided WSN, wherein the i-th sensor level does not include a first sensor level of a sink sensor node; resetting the respective sensor level of the one or more sensor nodes to an (i+1)th sensor level; attempting to connect the i-th sensor node at the i-th sensor level to another sensor node located at an (i?1)th sensor level; and connecting the i-th sensor node to a parent sensor node at the i-th sensor level when certain conditions are met. These conditions are determined and analyzed locally at each sensor node.

Abstract: Aspects of the disclosure provide a method for restoring connectivity among partitioned segments in a partitioned wireless sensor and actor network (WSAN). The method includes placing batches of mobile nodes at locations surrounding mobile nodes previously placed within a damaged area of the partitioned WSAN, spreading the batches of mobile nodes, determining whether connectivity among the partitioned segments has been restored, and repeating placing batches of mobile nodes, spreading the patches of mobile nodes, and determining whether connectivity among the partitioned segments has been restored when connectivity among the partitioned segments is not restored. The method is based on a distributed dropping approach which introduces minimal disruption to previously deployed mobile nodes, and decreases total travelled distance a mobile node might move compared with a traditional central dropping approach.

Abstract: A Two-hop Cooperative Virtual Force Robot Deployment (Two-hop COVER) technique is described. An improved Virtual force VF approach considers the mission requirements such as the number of required robots in each locality. The Two-hop COVER expedites the deployment process by establishing a cooperative relation between robots and neighboring landmarks. Two-hop cooperation is utilized as well to reduce the time and distance needed to satisfy mission requirements. In order to reduce randomness and guide remaining robots throughout the area till they find an unsatisfied landmark, each robot utilizes its history to visit only the locations that it has not visited before. Moreover, each robot will communicate with its neighboring robots and landmarks to use their current positions and history to guide its movements.

Abstract: A WSN has multiple sensor nodes, a bi-directional gateway sensor node, and a server. The WSN also includes circuitry configured to process a route request message from an origination sensor node to a destination sensor node. A message packet of each of the sensor nodes includes a minimum energy field, a minimum energy harvesting rate field, and a sum of energy field. The circuitry is also configured to determine a new delivery route based upon comparing a minimum energy and a minimum energy harvesting rate of an instant sensor node with a minimum energy and a minimum energy harvesting rate contained in the message packet, and select a lower minimum energy and a lower minimum energy harvesting rate from the instant sensor node or the message packet. The circuitry is also configured to broadcast the lower minimum energy and the lower minimum energy harvesting rate throughout the WSN.

Abstract: Systems and methods include a WSN having sensor nodes that are configured with electronic circuitry for interfacing with one or more associated sensors. The WSN also includes a gateway sensor node configured to receive sensor data from and forward instructions to the one or more sensor nodes, and a server configured to control the WSN in combination with the gateway sensor node. The WSN also includes circuitry configured to recognize a link break within a data communication route of the WSN via a routing protocol, and buffer incoming packets from a source node. The circuitry is also configured to propagate a RERR message of the link break to the plurality of sensor nodes, and build a bypass route around the link break of the data communication route towards a destination node. The circuitry is also configured to send the buffered incoming packets to the destination node through the bypass route.

Abstract: The method of routing for wireless ad hoc and sensor networks is a routing protocol that uses a greedy approach, selecting the best route having the maximum remaining energy above a pre-defined threshold limit. The method of routing for wireless ad hoc and sensor networks is an energy efficient routing protocol, in that the routing path is selected to maximize the lifetime of an individual source-destination pair by selecting a route between them that is based on the energy levels of neighboring nodes, without requiring an energy-intensive network flooding approach. The routing path between a source node and a destination node is selected by choosing, at each node, a neighboring node that has the greatest remaining energy level.

Abstract: A method and cooperative system for deploying a mobile robot of a plurality of mobile robots with a plurality of fixed sensors. The method includes broadcasting a position-request message including a request for a position and a demand for mobile robots, receiving the position-request message, and transmitting a position-demand message. The method also includes receiving position-demand messages from corresponding fixed sensors, determining a distance to the corresponding fixed sensors, storing information for the corresponding fixed sensor in a fixed sensor list when the distance to the corresponding fixed sensor is less than a predetermined distance, determining a closest fixed sensor, transmitting an association request message to the closest fixed sensor, receiving the association request message, and transmitting a confirmation message when the demand of the closest fixed sensor is not equal to zero or a rejection message when the demand of the closest fixed sensor is equal to zero.

Abstract: Systems and methods include a WSN having sensor nodes that are configured with electronic circuitry for interfacing with one or more associated sensors. The WSN also includes a gateway sensor node configured to receive sensor data from and forward instructions to the one or more sensor nodes, and a server configured to control the WSN in combination with the gateway sensor node. The WSN also includes circuitry configured to recognize a link break within a data communication route of the WSN via a routing protocol, and buffer incoming packets from a source node. The circuitry is also configured to propagate a RERR message of the link break to the plurality of sensor nodes, and build a bypass route around the link break of the data communication route towards a destination node. The circuitry is also configured to send the buffered incoming packets to the destination node through the bypass route.

Abstract: A method and cooperative system for deploying a mobile robot of a plurality of mobile robots with a plurality of fixed sensors. The method includes broadcasting a position-request message including a request for a position and a demand for mobile robots, receiving the position-request message, and transmitting a position-demand message. The method also includes receiving position-demand messages from corresponding fixed sensors, determining a distance to the corresponding fixed sensors, storing information for the corresponding fixed sensor in a fixed sensor list when the distance to the corresponding fixed sensor is less than a predetermined distance, determining a closest fixed sensor, transmitting an association request message to the closest fixed sensor, receiving the association request message, and transmitting a confirmation message when the demand of the closest fixed sensor is not equal to zero or a rejection message when the demand of the closest fixed sensor is equal to zero.