Design of multiple Bloom-filters based on error expectation

Navigation is a fundamental research topic in mobile robotics. Wireless sensor networks are providing distributed intelligence to support robot navigation, which effectively reduce the complexity due to dynamic and unstructured environments. For the purpose of efficient routing, a multiple Bloom-filters technique is introduced to support semantic queries and thus simplify the routing problem for a mobile robot. In this paper, we propose a new method for multiple Bloom-filters design using error expectation criterion, which can greatly reduce overall memory usage and produce a uniform relative error expectation for all paths. Simulation results show its effectiveness for multiple Bloom-filters design in comparison with the conventional method.