Autonomous mobile sensor placement in complex environments

Novella Bartolini, Tiziana Calamoneri, Stefano Ciavarella, Thomas La Porta, Simone Silvestri

Research output: Contribution to journalArticlepeer-review

8 Scopus citations


In this article, we address the problem of autonomously deploying mobile sensors in an unknown complex environment. In such a scenario, mobile sensors may encounter obstacles or environmental sources of noise, so that movement and sensing capabilities can be significantly altered and become anisotropic. Any reduction of device capabilities cannot be known prior to their actual deployment, nor can it be predicted.We propose a new algorithm for autonomous sensor movements and positioning, called DOMINO (DeplOyment of MobIle Networks with Obstacles). Unlike traditional approaches, DOMINO explicitly addresses these issues by realizing a grid-based deployment throughout the Area of Interest (AoI) and subsequently refining it to cover the target area more precisely in the regions where devices experience reduced sensing.We demonstrate the capability of DOMINO to entirely cover the AoI in a finite time.We also give bounds on the number of sensors necessary to cover an AoI with asperities. Simulations show that DOMINO provides a fast deployment with precisemovements and no oscillations, withmoderate energy consumption. Furthermore, DOMINO provides better performance than previous solutions in all the operative settings.

Original languageEnglish
Article numbera7
JournalACM Transactions on Autonomous and Adaptive Systems
Issue number2
StatePublished - May 2017

Bibliographical note

Publisher Copyright:
© 2017 ACM.


  • Autonomous coordination
  • Communication and movement obstacles
  • Obstacle sensing
  • Path planning
  • Wireless mobile sensor networks

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science (miscellaneous)
  • Software


Dive into the research topics of 'Autonomous mobile sensor placement in complex environments'. Together they form a unique fingerprint.

Cite this