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Unmanned Ground Vehicle Navigation And Coverage Hole Patching In Wireless Sensor Networks, Guyu Zhang
Unmanned Ground Vehicle Navigation And Coverage Hole Patching In Wireless Sensor Networks, Guyu Zhang
Doctoral Dissertations
This dissertation presents a study of an Unmanned Ground Vehicle (UGV) navigation and coverage hole patching in coordinate-free and localization-free Wireless Sensor Networks (WSNs). Navigation and coverage maintenance are related problems since coverage hole patching requires effective navigation in the sensor network environment. A coordinate-free and localization-free WSN that is deployed in an ad-hoc fashion and does not assume the availability of GPS information is considered. The system considered is decentralized and can be self-organized in an event-driven manner where no central controller or global map is required.
A single-UGV, single-destination navigation problem is addressed first. The UGV is equipped …