Efficient Complete Coverage Through Heterogeneous Sensing Nodes

We investigate the coverage efficiency of a sensor network consisting of sensors with circular sensing footprints of different radii. The objective is to completely cover a region in an efficient manner through a controlled (or deterministic) deployment of such sensors. In particular, it is shown that when sensing nodes of two different radii are used for complete coverage, the coverage density is increased, and the sensing cost is significantly reduced as compared to the homogeneous case, in which all nodes have the same sensing radius. Configurations of heterogeneous disks of multiple radii to achieve efficient circle coverings are presented and analyzed.