Networked and Embedded Systems Laboratory

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The quality of sensing in practical sensor network deployments
su®ers due to the presence of obstacles in the sensing medium. If
such unknown obstacles are present, and the sensor data indicates
that no targets of interest are detected, then there is no easy way for
the application to distinguish between the cases that there really is
no target or that the targets are located in occluded regions. The
obstacles may not be known before deployment and may change over
time. Hence, it is of interest to develop methods which enable a sensor
network to determine the presence and extent of sensing occlusions.
We present one such method based on the use of a range sensor to
map the obstacles in the medium. A network architecture to support
e±cient medium mapping facilities is presented, along with several
design choices in the acquisition and update of the medium map data.
We also present algorithms to rapidly acquire this data and share it
among multiple nodes. All algorithms presented are implemented on
prototype hardware consisting of an actuated laser and an embedded
processing platform.

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