Decentralized sensor probe positioning for security and surveillance robots

One disadvantage of security robots is the small area that can be covered simultaneously by the sensors of one robot and the fact, that this area can only be enlarged by increasing the range of the sensors or the number of robots in use. In addition the whole protection area of a security robot is basically limited by the range of the communication method and can be increased mostly by changing the infrastructure. This paper treats the use and the benefits of probes for increasing both the simultaneous sensor area and the whole protection area.