DocumentCode :
170575
Title :
Mobile-to-mobile energy replenishment in mission-critical robotic sensor networks
Author :
Liang He ; Peng Cheng ; Yu Gu ; Jianping Pan ; Ting Zhu ; Cong Liu
Author_Institution :
Singapore Univ. of Technol. & Design, Singapore, Singapore
fYear :
2014
fDate :
April 27 2014-May 2 2014
Firstpage :
1195
Lastpage :
1203
Abstract :
Recently, much research effort has been devoted to employing mobile chargers for energy replenishment of the robots in robotic sensor networks. Observing the discrepancy between the charging latency of robots and charger travel distance, we propose a novel tree-based charging schedule for the charger, which minimizes its travel distance without causing the robot energy depletion. We analytically evaluate its performance and show its closeness to the optimal solutions. Furthermore, through a queue-based approach, we provide theoretical guidance on the setting of the remaining energy threshold at which the robots request energy replenishment. This guided setting guarantees the feasibility of the tree-based schedule to return a depletion-free charging schedule. The performance of the tree-based charging schedule is evaluated through extensive simulations. The results show that the charger travel distance can be reduced by around 20%, when compared with the schedule that only considers the robot charging latency.
Keywords :
distributed sensors; mobile robots; queueing theory; scheduling; charger travel distance; depletion-free charging schedule; energy threshold; mission-critical robotic sensor networks; mobile chargers; mobile-to-mobile energy replenishment; queue-based approach; robot energy depletion; tree-based charging schedule; Mission critical systems; Mobile communication; Robot kinematics; Robot sensing systems; Schedules; Trajectory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
INFOCOM, 2014 Proceedings IEEE
Conference_Location :
Toronto, ON
Type :
conf
DOI :
10.1109/INFOCOM.2014.6848051
Filename :
6848051
Link To Document :
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