Dynamic Boundary Tracking Using Dynamic Sensor Nets

This paper describes a cooperative dynamic network capable of monitoring a stable dynamic boundary defined by a certain substance (e.g., a chemical spill) in the environment. Specifically, we present algorithms that allow a mobile sensor network to track and distribute along a dynamic boundary. The estimated dynamics of the boundary are explicitly taken into account in the design of synchronous motion coordination algorithms. The decentralized nature of the methodology implemented could potentially allow the network to reconfigure on-the-fly by adding/removing sensors as needed. Simulation results verify the validity of the proposed cooperative control scheme