GPS-free robots deployment technique for rescue operation based on landmark´s criticality

Robotics network is an effective way to deploy in areas where human intervention is impossible or possess some risks. In rescue operations, for example, robots can be used to help in discovering bodies under the rubbles or even assist the injured. One of the main challenges in these applications is how to deploy the robots in the absence of GPS services and without central coordination. In this paper, we tackle such a challenge in scenarios where landmarks are present in the deployment area. The problem is modeled by defining the actor coverage based on the individual landmarks. To deal with actor count limitation, a spatial-temporal coverage solution is pursued where some actors juggle between landmarks as needed. We formulate such dynamic coverage problem using Potential Fields where landmarks and actors exert virtual forces based on coverage demand and overlap. Extensive simulation experiments have been carried out using NS3 to evaluate the proposed approach and to compare it to Random Waypoint based dynamic coverage method. The simulation results validate the distinct performance of the approach in term of demand satisfaction and average traveled distance.