References

• A group of robots will coordinate their actions through ad-hoc communi-cation networks, and and will perform challenging tasks, including search and recovery operations, manipulation in hazardous environments, explo-ration,surveillance, and environmental monitoring for pollution detection and estimation. • The robots coordinate their motion in response to local sensing information and to evolving global data. The mobile sensing network is meant to provide the ability to sample the environment adaptively in space and time. 4- 14 Location Optimization and problem formulation • The problem of sensor optimal location is how to choose the location of the sensors for environment monitoring. The optimal location depends on the characterizes of the environment. • Let Q be a convex polytope in RN, including its interior, and let ‖ · ‖ denote the Euclidean distance function. φ(q) is a distribution density function that represents the probability that some event takes place over Q. • Let P = (p1, · · · , pn) be the location of n mobile sensors. Because of noise and loss of resolution, the sensing performance at point q taken from ith sensor at the position pi degrades with the distance ‖q − pi‖