Publication

Abstract : This paper describes a system that performs collaborative real-time sensing and monitoring of a disaster-hit area, using multiple Wireless Integrated Flying Robots (WiFR). These multiple WiFRs are designed to sense different environmental parameters; record images of the disaster hit area, and transmit these images to the command and control station (CCS). Each WiFR in the system has the capability to monitor unique regions, locate its position in real-time, and navigate to other regions according to real-time commands from the CCS. WiFRs are also integrated with collaborative sensing, processing, analyzing, and communication techniques. The efficient working of this multiple WiFR system requires the determination of the location of each of WiFR, the optimum number of WiFRs required for monitoring the entire disaster area, the paths with which minimum data packet loss and delay can be achieved, etc. Decision-making is dependent on various environmental propagation effects. During adverse environmental conditions, the WiFRs will use collaborative sensing as well as processing and analyzing techniques to determine the adaptable routes, thus avoiding the effects of wireless propagation and minimizing delay. Considering the capabilities of multiple WiFRs, this paper proposes an optimal positioning strategy of WiFRs that will effectively minimize the communication delay with respect to the dynamic propagation effects. An effective approach is also developed for determining the optimal density of WiFRs, to achieve guaranteed degrees of coverage. These results will provide important aspects necessary for effective disaster management. © 2011 IEEE.