Frontier Voronoi-based Algorithm to Expand Coverage and Connectivity in the Internet of Robotic Things
Weslley Alves Farias, Raimundo C. S. Freire, Elyson Á. N. Carvalho, José Gilmar Nunes Carvalho Filho, Lucas Molina, Eduardo Oliveira Freire · 2025
The efficient deployment of a wireless sensor network (WSN) is one of the key challenges in the Internet of Things (IoT). It requires self-organizing processes and adaptation to convex and non-convex connectivity topology, and obstacle environments, which are critical in harsh conditions and free from any human intervention. This work considers an Internet of Robotic Things (IoRT) scenario, where robots assist a static WSN in enhancing its coverage and connectivity, addressing the limitations resulting from the deployment of sensor nodes. An algorithm, named the Frontier Voronoi-based Algorithm (FVBA), is proposed to address coverage holes caused by random deployment while also managing obstacles and non-convex connectivity topologies. This algorithm is compared to the Target Voronoi-based Algorithm (TVBA). Simulation results show that the FVBA algorithm outperforms the previous algorithms in terms of the coverage and connectivity for different network topology configurations (convex and non-convex with obstacles) proven to be promising for support in real-world applications.