This document discusses research into the dynamic coverage of mobile sensor networks. It summarizes that as sensors move around in a network, locations that were previously uncovered may become covered over time. Intruders that could never be detected in a stationary network may now be found by moving sensors. However, coverage is only temporary as locations alternate between covered and uncovered as sensors move. The time it takes to detect a stationary intruder is proven to be exponentially distributed based on factors like sensor density and speed. For mobile intruders and sensors, a game theoretic approach shows the optimal strategy is for sensors to move randomly and for intruders to remain stationary, representing a Nash equilibrium.
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DYNAMIC COVERAGE OF MOBILE SENSOR NETWORKS
ABSTRACT:
We study the dynamic aspects of the coverage of a mobile sensor network resulting from
continuous movement of sensors. As sensors move around, initially uncovered locations may be
covered at a later time, and intruders that might never be detected in a stationary sensor network
can now be detected by moving sensors. However, this improvement in coverage is achieved at
the cost that a location is covered only part of the time, alternating between covered and not
covered. We characterize area coverage at specific time instants and during time intervals, as
well as the time durations that a location is covered and uncovered.
We further consider the time it takes to detect a randomly located intruder and prove that the
detection time is exponentially distributed with parameter 2了rvs where 了 represents the sensor
density, r represents the sensor's sensing range, and vs denotes the average sensor speed. For
mobile intruders, we take a game theoretic approach and derive optimal mobility strategies for
both sensors and intruders. We prove that the optimal sensor strategy is to choose their directions
uniformly at random between (0, 2). The optimal intruder strategy is to remain stationary. This
solution represents a mixed strategy which is a Nash equilibrium of the zero-sum game between
mobile sensors and intruders.