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A mobile wireless sensor network architecture for collaborative tasks achievement by means of autonomous robot swarm

In the last years, the detection of spatial and temporal variability of heterogeneous parameters is real-time performed [1] thanks to the development of innovative and integrated monitoring system such as Wireless Sensor Network (WSN). Such a technological solution provides an adequate level of pervasiveness mandatory for the observation of complex environmental phenomena in both civilian [2] and military applications as for example dangerous areas surveillance, target tracking, and intrusion detection [3]. Nevertheless, the efficiency and flexibility of a WSN architecture can be further enhanced if suitably integrated to gain other features (e.g., mobility) extend current functionalities. For example, WSNs can be “extended” thanks to the use of dedicated robotic devices in order to achieve the so-called mobile swarm sensing. State-of-the-art researches have explored different synergies among WSN and robots leading to different kinds of cooperation and applications. Considerable efforts have been devoted to develop collaborative-task solutions through swarm intelligence [4,5] and the arising Mobile Sensor Network architecture merges the advantages of the distributed sensing with the pervasiveness of the mobile robotics. As a matter of fact, wireless robot swarms can explore unreachable areas to rescue human victims or simply improve the sensing capabilities of the whole system focusing on selected “regions-of-interest” within the environment under test. In this work, an experimental study of an intelligent distributed network where sensors and robots interact to solve collaborative tasks is presented. Thanks to the wireless connections among fixed and mobile (robot) nodes, a distributed sensing is realized as well as the achievement of a user-defined control task. In order to assess the feasibility of the proposed distributed control strategy as well as the reliability of the WSN-based mixed (fixed and mobile) robotic system, some preliminary experimental results concerned with the location of the most illuminated point in a room are shown.