Minimizing data collection latency in wireless sensor network with multiple mobile elements

This paper considers the problem of computing the optimal trajectories of multiple mobile elements (e.g. robots, vehicles, etc.) to minimize data collection latency in wireless sensor networks (WSNs). By relying on slightly different assumption, we define two interesting problems, the k-traveling salesperson problem with neighborhood (k-TSPN) and the k-rooted path cover problem with neighborhood (k-PCPN). Since both problems are NP-hard, we propose constant factor approximation algorithms for them. Our simulation results indicate our algorithms outperform their alternatives.