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We explore synergies among mobile robots and wireless sensor networks in environmental monitoring through a system in which robotic data mules collect measurements gathered by sensing nodes. A proof of concept implementation demonstrates that this approach significantly increases the system's lifetime by conserving energy that the sensing nodes would(More)
We present a robotic system for collecting data from wireless devices dispersed across a large environment. In such applications, deploying a network of stationary wireless sensors may be infeasible because many relay nodes must be deployed to ensure connectivity. Instead, our system utilizes robots which act as data mules and gather the data from wireless(More)
Mobile robots equipped with wireless networking capabilities can act as robotic routers and provide network connectivity to mobile users. Robotic routers provide cost efficient solutions for deployment of a wireless network in a large environment with a limited number of users. In this paper, we present motion planning algorithms for robotic routers to(More)
Robots operating in a workspace can localize themselves by querying nodes of a sensor-network deployed in the same workspace. This paper addresses the problem of computing the minimum number and placement of sensors so that the localization uncertainty at every point in the workspace is less than a given threshold. We focus on triangulation-based state(More)
We introduce a new geometric robot routing problem which arises in data muling applications where a mobile robot is charged with collecting data from stationary sensors. The objective is to compute the robot's trajectory and download sequence so as to minimize the time to collect the data from all sensors. The total data collection time has two components:(More)
Mobile robots can be used as mobile hubs to provide communication services on-demand. This capability is especially valuable in disaster response scenarios where there is no communication infrastructure. In such scenarios, mobile hubs can provide a communication infrastructure in a dynamic fashion. In this paper, we study the problem of building a(More)
This work focuses on systems where mobile robots periodically collect data from (static) wireless sensor network nodes. Suppose we are given approximate locations of the static nodes, and an order with which the robot will visit these nodes. We present solutions to the following problems. (i) From the static node's perspective: given the stochastic nature(More)
Robotic routers (mobile robots with wireless communication capabilities) can create an adaptive wireless network and provide communication services for mobile users on-demand. Robotic routers are especially appealing for applications in which there is a single mobile user whose connectivity to a base station must be maintained in an environment that is(More)