Wireless Robotic Networks (WRNs), composed of numerous mobile robotic agents with the ability of moving, computing, sensing, and communicating, are able to provide wireless communication services and thus implement complicated tasks for user equipments. In order to guarantee the performance of coverage rate and ensure providing the services timely and effectively, mobile robotics in WRNs are usually deployed flexibly and quickly. However, coverage overlaps and energy redundancy may be generated by excessive deployed agents. In order to provide maximum coverage area with a minimum number of agents, we study the 3-dimensional coverage deployment problem in WRNs and propose a distributed deployment algorithm. Firstly, we give the scenario model, communication model, and coverage model to define the 3-dimensional coverage problem. Secondly, we propose a distributed coverage deployment algorithm that can set redundant agents to idle mode iteratively. Herein, we decouple the coverage deployment problem in the altitude and horizontal dimensions without any loss of optimality. On the one hand, this algorithm can find the optimal altitude for agents mathematically. On the other hand, this algorithm contains a local deployment algorithm based on Particle Swarm Optimization (PSO) which is used for a particular active agent to find a better position with a larger local coverage area. In particular, the local coverage area is obtained depending on the Voronoi Diagram (VD). Our proposed algorithm is distributed which only requires local information. Finally, performance evaluation are given in three aspects, which demonstrate the effectiveness of the proposed distributed deployment algorithm.

无线机器人网络（WRN）由众多具有移动，计算，传感和通信能力的移动机器人代理组成，能够提供无线通信服务，从而为用户设备执行复杂的任务。为了保证覆盖率的性能并确保及时有效地提供服务，WRN中的移动机器人通常需要灵活，快速地部署。但是，覆盖范围重叠并且过多的部署代理可能会产生能量冗余。为了以最少的座席数提供最大的覆盖范围，我们研究了WRN中的3维覆盖范围部署问题，并提出了一种分布式部署算法。首先，我们给出了情景模型，通信模型和覆盖模型来定义3维覆盖问题。其次，我们提出了一种分布式覆盖部署算法，该算法可以迭代地将冗余代理设置为空闲模式。在此，我们在高度和水平维度上解耦覆盖范围部署问题，而不会损失任何最优性。一方面，该算法可以在数学上找到代理商的最佳海拔。另一方面，此算法包含基于粒子群优化（PSO）的局部部署算法，该算法用于特定的活动代理以找到具有较大局部覆盖范围的更好位置。尤其是，根据Voronoi图（VD）获得局部覆盖区域。我们提出的算法是分布式的，只需要本地信息。最后，从三个方面进行了性能评估，证明了所提出的分布式部署算法的有效性。