Mobile robot tracking in wireless sensor networks

This paper studies the mobile robot tracking problem in a wireless sensor network consisting of several sensor nodes collecting sensor information and transmitting data packets in order to determine a mobile robot´s location at real-time. This paper proposed an intrusion detection algorithm based on collecting light signal and a counter-based routing protocol integrated with Automatic Repeat reQuest (ARQ). The counter-based routing protocol makes use of a randomized delay before a data transmission to reduce data redundancy. This provides a lightweight solution while preserving the advantage of being an easily implementable protocol. Furthermore, an event-based interface to facilitate handshaking between the new routing protocol and the proposed lightweight motion detection algorithm is defined to realize the intrusion detection application. The detection algorithm and the routing protocol are implemented in a prototypical wireless sensor network using MICA2 sensor motes.