IQABC-Based Hybrid Deployment Algorithm for Mobile Robotic Agents Providing Network Coverage  

作　　者：Shuang Xu Xiaojie Liu Dengao Li Jumin Zhao 

机构地区：[1]College of Computer Science and Technology(College of Data Science),Taiyuan University of Technology,Taiyuan 030024,China [2]Pengcheng Laboratory,Shenzhen 518055,China [3]College of Information and Computer,Taiyuan University of Technology,Taiyuan 030024,China

出　　处：《Tsinghua Science and Technology》2024年第2期589-604,共16页清华大学学报（自然科学版（英文版）

基　　金：supported by the National Natural Science Foundation of China(No.62102280);Fundamental Research Program of Shanxi Province(No.20210302124167);Key Research and Development Program of Shanxi Province(No.202102020101001);National Major Scientific Research Instrument Development Project of China(No.62027819).

摘　　要：Working as aerial base stations,mobile robotic agents can be formed as a wireless robotic network to provide network services for on-ground mobile devices in a target area.Herein,a challenging issue is how to deploy these mobile robotic agents to provide network services with good quality for more users,while considering the mobility of on-ground devices.In this paper,to solve this issue,we decouple the coverage problem into the vertical dimension and the horizontal dimension without any loss of optimization and introduce the network coverage model with maximum coverage range.Then,we propose a hybrid deployment algorithm based on the improved quick artificial bee colony.The algorithm is composed of a centralized deployment algorithm and a distributed one.The proposed deployment algorithm deploy a given number of mobile robotic agents to provide network services for the on-ground devices that are independent and identically distributed.Simulation results have demonstrated that the proposed algorithm deploys agents appropriately to cover more ground area and provide better coverage uniformity.

关 键 词：wireless robotic networks network coverage deployment algorithm improved quick artificial bee colony 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP18[自动化与计算机技术—控制科学与工程]