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Abstract: We develop distributed algorithms for self-reconfiguring sensor networks that respond to directing a target through a region. The sensor network models the danger levels sensed across its area and has the ability to adapt to changes. It represents the dangerous areas as obstacles. A protocol that combines the artificial potential field of the sensors with the goal location for the moving object guides the object incrementally across the network to the goal, while maintaining the safest distance to the danger areas. We report on hardware experiments using a physical sensor network consisting of Mote sensors.

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   Qun Li, Michael De Rosa, and Daniela Rus, "Distributed Algorithms for Guiding Navigation across a Sensor Network." Dartmouth Computer Science Technical Report TR2002-435, October 2002.

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