Efficient Evader Detection in Mobile Sensor Networks

Suppose one wants to monitor a domain with sensors, each sensing a small ball-shaped region, but the domain is hazardous enough that one cannot control the placement of the sensors. A prohibitively large number of randomly placed sensors could be required to obtain static coverage. Instead, one can use fewer sensors by providing mobile coverage, a generalization of the static setup wherein every possible evader is detected by the moving sensors in a bounded amount of time. Here, we use topology in order to implement algorithms certifying mobile coverage that use only local data to solve the global problem. Our algorithms do not require knowledge of the sensors' locations, only their connectivity information. We experimentally study the statistics of mobile coverage in two dynamical scenarios. We allow the sensors to move independently (billiard dynamics and Brownian motion), or to locally coordinate their dynamics (collective animal motion models). Our detailed simulations show, for example, that collective motion can enhance performance: The expected time until the mobile sensor network achieves mobile coverage is lower for the D'Orsogna collective motion model than for the billiard motion model. Further, we show that even when the probability of static coverage is low, all possible evaders can nevertheless be detected relatively quickly by the mobile sensor network.