Autonomous deployment of mobile sensors network in an unknown indoor environment with obstacles.

We developed a Voronoi-based algorithm, called Bio-Inspired Self Organizing Network (BISON), designed to provide a successful deployment of wireless sensor network (WSN) following fast, cost-efficient and self-organizing process, autonomously adapting to the unknown topology of the target environment, and avoiding obstacles discovered in real-time. To limit the power consumed during the deployment, BISON restricts each node to use only locally sensed information to adapt to live-discovered topology while avoiding obstacles and connecting with neighboring nodes. The algorithm is evaluated with respect to several metrics, and simulation results showed faster convergence to a fully connected network with lower deployment costs compared to similar algorithms reported in the literature.