CFPP: Collision-free path planning for wireless mobile sensors deployment

Ting-Yu Lin*, Hendro Agus Santoso, Chung An Lin, Gui Liu Wang

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations


With the growing popularity of wireless mobile sensors, automated sensors deployment in a smart sensing environment has become practical and feasible. Once the deployment algorithm determines moving destinations (goals) for all sensors, however, the problem of how to schedule collision-free moving paths to reach the goals safely remains largely unaddressed in the wireless sensor networking (WSN) literature. In this paper, we propose a collision-free path planning (CFPP) mechanism, based on geometric formulations and batched movements, to address the sensors deployment problem. Our proposed CFPP mechanism ensures 100% sensors goal reachability, which is critical for most WSN monitoring applications that require sufficient sensing coverage to operate correctly. Performance results show that our CFPP outperforms other existing path-planning mechanisms in terms of computation latency, energy consumption, and sensors reachability (goals reaching success probability).

Original languageEnglish
Title of host publication2015 IEEE International Conference on Communications, ICC 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781467364324
StatePublished - 9 Sep 2015
EventIEEE International Conference on Communications, ICC 2015 - London, United Kingdom
Duration: 8 Jun 201512 Jun 2015

Publication series

NameIEEE International Conference on Communications
ISSN (Print)1550-3607


ConferenceIEEE International Conference on Communications, ICC 2015
Country/TerritoryUnited Kingdom


  • Mobile sensors deployment
  • path planning


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