Coordination of mobile mules via facility location strategies

Danny Hermelin, Michael Segal, Harel Yedidsion

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


In this paper, we study the problem of wireless sensor network (WSN) maintenance using mobile entities called mules. The mules are deployed in the area of the WSN in such a way that would minimize the time it takes them to reach a failed sensor and fix it. The mules must constantly optimize their collective deployment to account for occupied mules. The objective is to define the optimal deployment and task allocation strategy for the mules, so that the sensors’ downtime and the mules’ traveling distance are minimized. Our solutions are inspired by research in the field of computational geometry and the design of our algorithms is based on state of the art approximation algorithms for the classical problem of facility location. Our empirical results demonstrate how cooperation enhances the team’s performance, and indicate that a combination of k-Median based deployment with closest-available task allocation provides the best results in terms of minimizing the sensors’ downtime but is inefficient in terms of the mules’ travel distance. A k-Centroid based deployment produces good results in both criteria.

Original languageAmerican English
Title of host publicationAdvances in Practical Applications of Cyber-Physical Multi-Agent Systems
Subtitle of host publicationThe PAAMS Collection - 15th International Conference, PAAMS 2017, Proceedings
EditorsYves Demazeau, Paul Davidsson, Zita Vale, Javier Bajo
PublisherSpringer Verlag
Number of pages13
ISBN (Print)9783319599298
StatePublished - 1 Jan 2017
Event15th International Conference on Practical Applications of Agents and Multi-Agent Systems, PAAMS 2017 - Porto, Portugal
Duration: 21 Jun 201723 Jun 2017

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume10349 LNCS


Conference15th International Conference on Practical Applications of Agents and Multi-Agent Systems, PAAMS 2017

All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • General Computer Science


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