Surveillance and tracking system with collaboration of robots, sensor nodes, and RFID tags

In this paper, we propose a divide and conquer based surveillance framework, in which a large surveillance area is divided into small areas by critical points and critical lines. Sensor nodes, sinks, robots, and RFID tags are all used. We deploy sensor nodes along critical lines only instead of all over the region. Our aim is to do surveillance with efficient deployment of sensor nodes and sinks, and to detect then track and even capture targets, e.g., an intrusion tank or forest fire, with the collaboration of robots and sensor nodes.