In this article, we address the problem of autonomously deploying mobile sensors in an unknown complex environment. In such a scenario, mobile sensors may encounter obstacles or environmental sources of noise, so that movement and sensing capabilities can be significantly altered and become anisotropic. Any reduction of device capabilities cannot be known prior to their actual deployment, nor can it be predicted. We propose a new algorithm for autonomous sensor movements and positioning, called DOMINO (DeplOyment of MobIle Networks with Obstacles). Unlike traditional approaches, DOMINO explicitly addresses these issues by realizing a grid-based deployment throughout the Area of Interest (AoI) and subsequently refining it to cover the target area more precisely in the regions where devices experience reduced sensing. We demonstrate the capability of DOMINO to entirely cover the AoI in a finite time. We also give bounds on the number of sensors necessary to cover an AoI with asperities. Simulations show that DOMINO provides a fast deployment with precise movements and no oscillations, with moderate energy consumption. Furthermore, DOMINO provides better performance than previous solutions in all the operative settings.

中文翻译：

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复杂环境中的自主移动传感器放置

在本文中，我们解决了在未知复杂环境中自主部署移动传感器的问题。在这种情况下，移动传感器可能会遇到障碍物或环境噪声源，因此运动和传感能力可能会发生显着变化并变得各向异性。在实际部署之前无法知道设备功能的任何减少，也无法预测。我们提出了一种用于自主传感器移动和定位的新算法，称为 DOMINO（带障碍物的移动网络部署）。与传统方法不同，DOMINO 通过在整个感兴趣区域 (AoI) 中实现基于网格的部署来明确解决这些问题，然后对其进行改进以在设备感知减少的区域更精确地覆盖目标区域。我们展示了多米诺在有限时间内完全覆盖 AoI 的能力。我们还限制了覆盖具有粗糙度的 AoI 所需的传感器数量。仿真表明，多米诺提供快速部署，运动精确，无振荡，能耗适中。此外，多米诺在所有操作环境中提供比以前的解决方案更好的性能。