Coordination control policy for mobile sensor networks with shared heterogeneous resources

This paper considers centralized coordination of cooperating heterogeneous wireless sensors with multiple shared resources. A discrete event controller (DEC) is used to sequence the most suitable tasks for stationary and mobile sensors according to the current perception of the environment, efficiently handling simultaneous missions of different priority. Its matrix formulation, apart from making the assignment of the mission planning straightforward and easily adaptable if agents or applications change, provides a powerful tool to analyze deadlock situations and implement efficient deadlock avoidance policies. It also represents a complete dynamical description of the system which allows computer simulation analysis. The matrix formulation also allows fast implementation of DEC for actual WSNs.