@article{qun_tsn05,
	author = {Qun Li and Daniela Rus},
	title = {Navigation Protocols in Sensor Networks},
	journal = {{ACM} Transactions on Sensor Networks},
	year = {2005},
	month = {Aug.},
	volume = {1},
	number = {1},
	pages = {3--35},
	publisher = {ACM},
	earlier = {},
	later = {},
	url = {}
	}

Abstract

We develop distributed algorithms for adaptive sensor networks that
respond to directing a target through a region of space. We model this
problem as an on-line distributed motion planning problem. Each sensor
node senses values in its perception space and has the ability to
trigger exceptions events we call ``danger'' and model as
``obstacles''. The danger/obstacle landscape changes over time. We
present algorithms for computing distributed maps in perception space
and for using these maps to compute adaptive paths for a mobile node
that can interact with the sensor network. We give the analysis to the
protocol and report on hardware experiments using a physical sensor
network consisting of Mote sensors. We also show how to reduce
searching space and communication cost using Voronoi diagram.