Multi-Robot-Assisted Confident Information Coverage Hole Repairing in WSNs

This paper constructs a multi-robot-assisted sensor relocation (CIC-MRASR) problem based on a model of confident information coverage (CIC) in WSNs. The robot has the ability to carry multiple sensors. For the CIC-MRASR problem, we propose a CIC-based Ant Colony Optimization (CIC-ACO) to complete the relocation of redundant sensors to improve the WSNs coverage quality and expand the network life. Experimental results show that the CIC-ACO algorithm is superior to CIC-Genetic algorithm and CIC-Greedy algorithm in terms of moving trajectory length, robot energy consumption and sensors relocation time.