Autonomous deployment of heterogeneous mobile sensors

In this paper we address the problem of deploying heterogeneous mobile sensors over a target area. We show how traditional approaches designed for homogeneous networks fail when adopted in the heterogeneous operative setting. Unfortunately, network and device homogeneity is an unrealistic assumption in most practical deployments. In order to deal with realistic scenarios, we introduce VorLag, a generalization of the Voronoi approach based on Laguerre geometry. We theoretically prove the appropriateness of our approach to the management of heterogeneous networks. In addition we demonstrate that VorLag can be extended to deal with dynamically generated events or uneven energy depletion due to communications. Furthermore, by means of simulations, we show that VorLag provides a very stable sensor behavior, with fast and guaranteed termination and moderate energy consumption. We also show that VorLag performs better than other methods based on virtual forces.