Abstract
The authors have been developing an information-gathering system using mobile robots and WSNs (Wireless Sensor Networks) in underground spaces in post-disaster environments. In our system, mobile robots carry wireless sensor nodes (SN) and deploy them into the environment. This paper describes a design of appropriate deployment intervals of SNs for WSN construction to satisfy both sensing and communication requirements. SNs are deployed to gather spatially continuous images of target area in underground space while measuring throughput of end-to-end to ensure communication performance for teleoperation of rescue robot via WSN. Experimental results using a proposed method are presented.
