An Energy-Efficient Mobile Triangulation-based Coverage Scheme

In triangulation-based coverage, a group of three mobile sensor nodes (MSNs) position themselves to form an equilateral triangle. A larger area is covered with many such smaller triangles as three MSNs move from one triangle to another. Such a scheme has several applications in localization, 3D imaging and coordinated search operation. In this work, we introduce an efficient mobile traversal algorithm (MTA) that provides a triangulation-based coverage of a field that can be approximated as a rectangle. We analyze the MTA in terms of the MSNs´ travel distance and time taken to complete the traversal process. The bounds derived are also useful in determining the amount of energy consumption by the MSNs.