Sensor selection and motion planning in robotic sensor networks under communication constraints

We compare the configuration spaces corresponding to various arrangements of sensors on a robotic sensor network of three agents under the constraints of collision avoidance and maintenance of communication. We argue for the superiority of one particular sensor arrangement from the point of view of hardware complexity. This configuration space has the topology of a solid double torus. Various techniques of hyperbolic geometry and algebraic topology have been employed for motion planning on this configuration space.