This work has demonstrated solutions to several important problems in the
field: (1) a routing algorithm that supports mobility and disconnections and is provably correct; (2) a routing algorithm that optimizes power consumption; (3) a distributed mapping algorithm in perception space for
sensor networks; and (5) a distributed application of sensor networks to
navigation guidance and supporting algorithms. We have also contributed
a new device for interacting with sensor networks and data from several
physical experiments.