4.7 Article

Energy-Aware UAV-Driven Data Collection With Priority in Robotic Wireless Sensor Network

Journal

IEEE SENSORS JOURNAL
Volume 23, Issue 15, Pages 17667-17675

Publisher

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/JSEN.2023.3286877

Keywords

Robot sensing systems; Robot kinematics; Batteries; Sensors; Wireless sensor networks; Energy consumption; Autonomous aerial vehicles; Cluster-based routing; robotic network; unmanned aerial vehicle (UAV); wireless sensor network

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The work focuses on energy-aware data-gathering issues in clustered robotic networks. A cluster head assigns tasks and gathers monitoring data from sensors. A limited battery capacity UAV collects data from a subgroup of cluster head robots. A cost optimization algorithm is proposed, considering the energy consumption of the robots.
The work tackles energy-aware data-gathering problems in clustered robotic networks. A cluster head (CH) robot assigns tasks to other robots which gathers monitoring data from sensors. After executing their assigned tasks, they send the resultant data to it in each cluster. Then, an unmanned aerial vehicle (UAV) with limited battery capacity collects data from CH robots by visiting a portion of them. Under the limit of battery capacity of UAV, we aim to collect data from CH robots with a minimum cost by visiting a subgroup of CH robots among them. UAV makes a decision on the CH robots to visit by also caring a set of CH robot in addition to its battery capacity and locations of all CH robots. If exists, a nonvisited CH robot sends data to other CH robots for forwarding data. The data forwarding strategy of each nonvisited CH robot is also considered for this cost optimization. Differently from traditional approaches, we consider fixed battery capacity for the UAV. The proposed algorithm is compared for various numbers of CH robots and priority sets by considering the energy consumption of CH robots, which has an influence on the lifetime of the network.

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