Self-Deployment Algorithms for Field Coverage in a Network of Nonidentical Mobile Sensors

In this paper, efficient deployment algorithms are proposed for a mobile sensor network to improve coverage. The proposed algorithms calculate the position of the sensors iteratively based on the existing coverage holes in the target field. The multiplicatively weighted Voronoi diagram (MW-Voronoi diagram) is used to discover the coverage holes corresponding to different sensors with different sensing ranges. The algorithms proposed in this paper consider the distances of each sensor and the points inside its corresponding MW-Voronoi region from the boundary curves of the region. Under the proposed algorithms, the sensors move in such a way that the coverage holes in the target field are reduced. Simulations confirm the effectiveness of the deployment algorithms proposed in this paper.