The Effective Coverage of Homogeneous Teams with Radial Attenuation Models
For the area coverage (e.g., using a WSN), despite the comprehensive research works on full-plane coverage using a multi-node team equipped with the ideal constant model, only very few works have discussed the coverage of practical models with varying intensity. This paper analyzes the properties of...
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| Format: | Article |
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MDPI AG
2022-12-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/23/1/350 |
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| author | Yuan-Rui Yang Qiyu Kang Rui She |
| author_facet | Yuan-Rui Yang Qiyu Kang Rui She |
| author_sort | Yuan-Rui Yang |
| collection | DOAJ |
| description | For the area coverage (e.g., using a WSN), despite the comprehensive research works on full-plane coverage using a multi-node team equipped with the ideal constant model, only very few works have discussed the coverage of practical models with varying intensity. This paper analyzes the properties of the effective coverage of multi-node teams consisting of a given numbers of nodes. Each node is equipped with a radial attenuation disk model as its individual model of coverage, which conforms to the natural characteristics of devices in the real world. Based on our previous analysis of 2-node teams, the properties of the effective coverage of 3-node and <i>n</i>-node (<inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mi>n</mi><mo>≥</mo><mn>4</mn></mrow></semantics></math></inline-formula>) teams in regular geometric formations are analyzed as generalized cases. Numerical analysis and simulations for 3-node and <i>n</i>-node teams (<inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mi>n</mi><mo>≥</mo><mn>4</mn></mrow></semantics></math></inline-formula>) are conducted separately. For the 3-node cases, the relations between the side lengths of equilateral triangle formation and the effective coverage of the team equipped with two different types of models are respectively inspected. For the <i>n</i>-node cases (<inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mi>n</mi><mo>≥</mo><mn>4</mn></mrow></semantics></math></inline-formula>), the effective coverage of a team in three formations, namely regular polygon, regular star, and equilateral triangular tessellation (for <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mi>n</mi><mo>=</mo><mn>6</mn></mrow></semantics></math></inline-formula>), are investigated. The results can be applied to many scenarios, either dynamic (e.g., robots with sensors) or static, where a team of multiple nodes cooperate to produce a larger effective coverage. |
| first_indexed | 2024-03-09T11:57:02Z |
| format | Article |
| id | doaj.art-ee853fb42bdf499a86a991374f1fc966 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-09T11:57:02Z |
| publishDate | 2022-12-01 |
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| spelling | doaj.art-ee853fb42bdf499a86a991374f1fc9662023-11-30T23:09:01ZengMDPI AGSensors1424-82202022-12-0123135010.3390/s23010350The Effective Coverage of Homogeneous Teams with Radial Attenuation ModelsYuan-Rui Yang0Qiyu Kang1Rui She2School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 637460, SingaporeCentre for Information Sciences and Systems, Nanyang Technological University, Singapore 639798, SingaporeCentre for Information Sciences and Systems, Nanyang Technological University, Singapore 639798, SingaporeFor the area coverage (e.g., using a WSN), despite the comprehensive research works on full-plane coverage using a multi-node team equipped with the ideal constant model, only very few works have discussed the coverage of practical models with varying intensity. This paper analyzes the properties of the effective coverage of multi-node teams consisting of a given numbers of nodes. Each node is equipped with a radial attenuation disk model as its individual model of coverage, which conforms to the natural characteristics of devices in the real world. Based on our previous analysis of 2-node teams, the properties of the effective coverage of 3-node and <i>n</i>-node (<inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mi>n</mi><mo>≥</mo><mn>4</mn></mrow></semantics></math></inline-formula>) teams in regular geometric formations are analyzed as generalized cases. Numerical analysis and simulations for 3-node and <i>n</i>-node teams (<inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mi>n</mi><mo>≥</mo><mn>4</mn></mrow></semantics></math></inline-formula>) are conducted separately. For the 3-node cases, the relations between the side lengths of equilateral triangle formation and the effective coverage of the team equipped with two different types of models are respectively inspected. For the <i>n</i>-node cases (<inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mi>n</mi><mo>≥</mo><mn>4</mn></mrow></semantics></math></inline-formula>), the effective coverage of a team in three formations, namely regular polygon, regular star, and equilateral triangular tessellation (for <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mi>n</mi><mo>=</mo><mn>6</mn></mrow></semantics></math></inline-formula>), are investigated. The results can be applied to many scenarios, either dynamic (e.g., robots with sensors) or static, where a team of multiple nodes cooperate to produce a larger effective coverage.https://www.mdpi.com/1424-8220/23/1/350coverage controlmulti-robotcooperative sensorsoptimization |
| spellingShingle | Yuan-Rui Yang Qiyu Kang Rui She The Effective Coverage of Homogeneous Teams with Radial Attenuation Models Sensors coverage control multi-robot cooperative sensors optimization |
| title | The Effective Coverage of Homogeneous Teams with Radial Attenuation Models |
| title_full | The Effective Coverage of Homogeneous Teams with Radial Attenuation Models |
| title_fullStr | The Effective Coverage of Homogeneous Teams with Radial Attenuation Models |
| title_full_unstemmed | The Effective Coverage of Homogeneous Teams with Radial Attenuation Models |
| title_short | The Effective Coverage of Homogeneous Teams with Radial Attenuation Models |
| title_sort | effective coverage of homogeneous teams with radial attenuation models |
| topic | coverage control multi-robot cooperative sensors optimization |
| url | https://www.mdpi.com/1424-8220/23/1/350 |
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