A new search algorithm using autonomous and cooperative multiple sensor nodes

In this paper, we study search algorithms for using a set of autonomous and cooperative mobile sensor nodes (MSN) with limited sensing and communication ranges to search a large area. Our objectives include minimizing the total search time and the travel distance of MSNs while enabling fault tolerance to possible MSN failures. We propose a new rendezvous scheme, namely X Synchronization (XS) to facilitate the exchange of both data and control signals among the MSNs during search. We also devise a way to calculate appropriate timeout periods used to detect an MSN failure at rendezvous points and describe how surviving MSNs subsequently carry out the search mission. Numerical analysis and simulations have been performed to evaluate the performance of XS. The results show that XS can outperform other rendezvous schemes in terms of the total search time and the average travel distance of MSNs.