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reply message) by protocol GFG [3]. Below we shall examine Assume that at the meeting time A is located at position s
how the robot’s search message is processed. and B at t, as shown in Fig. 5. Notice that v is closer to F than
The search message is routed away from F by sensors u. Suppose B is a slower robot that A. If A and B stay with
following the GFG principle as the failure notification message their original sensor placement task, coverage augmentation
in RAR. It stops at a border node S located on the outermost will not be achieved soon (in other words, coverage radius
hexagon that the network occupies. This node identifies itself will not be immediately increased) even if A quickly reaches
as the search agent of B and continues the search on its behalf. u and drops a sensor there, since v will still remain empty
The search agent S forwards the search message of B along for a while due to the slow motion of B. Therefore, the task
the network border by face routing. This can be definitely done exchange between A and B will reduce coverage augmentation
because S has known the outer face. The message picks up the delay. Even if the two robots are moving at the same speed,
location of the empty TT vertex v nearest to B among those in some case the task exchange may still be desirable because
with lowest hexagon index and stored on each forwarding it will lead to reduced moving distance (thus energy saving)
node. After it gets back to S, S knows the search result v and for both of them.
circulates a reservation message along the network border so Motivated by the above analysis, we introduce robot task
that v is no long recommended to any other robot. By this exchange (RTE) as an optimization technique for CBCA. The
means, vertex contention is properly handled. idea is summarized as follows: when two robots A and B meet,
If a border node has confirmed a reservation for v to a by local communication they exchange their sensor placement
different robot agent by the time of receiving the reservation task if the exchange is beneficial to either delay reduction
message from S, it will set a flag in the message. By checking or energy saving. If more than two robots meet together,
the flag in the returned reservation message, S knows if the RTE is performed in a pair-wise manner until task assignment
reservation succeeds. In the case of failure, it re-starts the becomes stable among these robots.
search immediately. In the case of success, it notifies B about
the search result (by reply message) using GFG and waits for V. C ONCLUSIONS
an ACK. On the arrival of the ACK, it erases the information In this paper we studied for the first time the problem
of v from the network border (the EVL of border nodes) by of carrier-based sensor placement with sensor-reloading. Our
another round of border traversal through a deletion message. proposed algorithm CBCA is the first algorithm of its kind.
If no ACK arrives within a certain period of time (e.g., due Existing carrier-based sensor placement algorithms all unre-
to node failure), it releases v from reservation by sending a alistically require robots to carry sensors at once (without
cancellation message along the network border. sensor reloading), ignoring sensor physical dimension and
robot storage capacity. Furthermore, these algorithms all aim
IV. O PTIMIZATION at traditional area coverage over a region of interest without
Suppose that two robots A and B are augmenting FO- particular coverage focus; whereas, our new algorithm CBCA
CUSED coverage around F . They enter the environment from targets at the emerging F-coverage problem with a given
two different base points and march toward F asynchronously. coverage focus. As there is no competing algorithm in the
They discover two empty vertices u and v (both caused by literature, performance evaluation will merely be reporting
node failure) inside the already-established network after ar- the behavior such as robot energy consumption and sensor
riving at position a and b, respectively. Then they respectively communication overhead of CBCA itself. In this case, we
change their movement destinations to these two vertices for omitted the solo simulation report here.
sensor placement, i.e., A to u and B to v. The two robots meet
each other on their way. The meeting gives them a chance to ACKNOWLEDGMENT
exchange sensor placement tasks, which we will see in the This work was partially supported by NSERC Strategic
following may be beneficial. grant STPSC356913-07.
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