Interacting with sensor networks

We develop distributed algorithms for sensor networks that respond by directing a target (robot or human) through a region. The sensor network models the event levels sensed across a geographical area, adapts to changes, and guides a moving object incrementally across the network. We describe a device we call a flashlight for interacting with the sensor field. This interaction includes collecting navigation information from the sensors in the local neighborhood, activating and deactivating specified areas of the sensor network, and detecting events in the sensor network. We report on hardware experiments using a physical sensor network consisting of Mote sensors.