Data Ferry Trajectory Planning For Sweep Coverage Problem With Multiple Mobile Sensors

Sweep coverage plays an important role in many applications like data gathering,sensing coverage,and devices control,etc.In this paper,we deal with sweep coverage problem with multiple mobile sensors to periodically cover n targets in the surveillance region.We propose two constant-factor approximations,namely CoCycle,and AugPrim,to minimize the longest trajectory length of mobile sensors under different scenarios respectively.CoCycle solves the cooperative sweep coverage problem,in which multiple sensors work together to cover n targets.It partitions the vertices based on the trees produced by the constructing process of minimum spanning tree.Its approximation ratio is 4,which outperforms the state-of-art best approximation ratio of 6.AugPrim is also a 6-approximation.It computes the sensor route for multi-sink sweep coverage problem,where each sensor has to transmit the gathered data to one of the given sinks in each detection period.It implements the modified Prim algorithm and augment paths in turn according to the sink positions.AugPrim is the first approximation for sweep coverage problem with sinks.Meanwhile,we showed the connection between the two objectives: minimizing the number of sensors and minimizing the sweep coverage period.Finally,we provide various numerical experiments and comparisons with several previous work to validate the efficiency of our design.