Sub-optimal decentralised control algorithms for blanket and k-barrier coverage in autonomous robotic wireless sensor networks

This research aims to propose a novel sub-optimal decentralised blanket coverage control algorithm, namely, `one-Barrier-to-Blanket Coverage Algorithm` (BBCA) as well as a novel k-barrier coverage control algorithm, namely, `one-to-k Barrier Coverage Algorithm´ (1-kBCA) for self-deployed autonomous wireless sensor networks in the obstacle-free and convex deployment area. The motion coordination schemes developed in this research are based on the nearest neighbour techniques. Research indicates that simple motion coordination schemes have resulted in the powerful and intelligent control algorithms to achieve the desired coverage. Since the algorithms were developed based on simple local rules, they are indeed computationally efficient and ease the communication overheads. What is more, the superiorities of the proposed algorithms are nonetheless related to their uniformity, flexibility, simplicity, scalability as well as reliability. Instead of theoretical proofs as solid mathematical frameworks, computer simulations also have been presented to demonstrate the effectiveness of the proposed algorithms.