Tiered architecture for threat detection and containment using system of wireless embedded sensors and robots

Threat-aware deployment of sensors and systems of robots can work in tandem to detect, assess, isolate and contain threats. In this paper, we introduce a model, design and a tiered-architectural implementation for a threat detection system. Our architecture proposes a group of heterogeneous operationally independent systems consisting of in-situ sensors, sensor robots (mobile sensors) and system of aerial reconnaissance sensors working in synergy. We propose a hierarchical deployment strategy to enhance the coverage of a threat with special emphasis on data integrity and reduction in false alarms.