Angle constrained paths in sensor networks

Short-length paths in geometric graphs are not necessarily feasible in sensor networks and robotics. Paths with sharp-turn angles cannot be used by robotic vehicles and tend to consume more energy in sensor networks.; In this thesis, we investigate the development of short-length paths without sharp-turn angles. We present a critical review of existing algorithms for generating angle constrained paths. We then consider the construction of routes having directional properties---d-monotone routes which are special cases of angle constrained paths. We develop a centralized algorithm for computing shortest d-monotone paths in triangulated networks. Since local computations are highly desired in sensor networks, we also consider localized online algorithms for computing length-reduced d-monotone paths in Delaunay Triangulation networks.; The proposed algorithms are implemented in the Java programming language. Performances of the proposed algorithms are evaluated by examining the routes constructed by them on several randomly-generated Delaunay networks.