**1. Introduction**

70 Wireless Sensor Networks – Technology and Protocols

*Technologies, Mobility and Security (NTMS)*, 2009.

[18] L. Ben Saad and B. Tourancheau, "Towards an Efficient Positioning of Mobile Sinks in Wireless Sensor Networks inside Buildings," in *3rd International Conference on New* 

> Due to the recent development in micro mechanics, electronics and wireless communication technologies, Wireless Sensor Network (WSN) has been a hot issue for many applications like monitoring, detecting, remote control, life saving etc. However, along with the applications in different area, the ways of deploying the sensor nodes are different. In some harsh environmental detection, sensor nodes are always dropt into the target area by aircraft which may lead some unnecessary troubles, for example some nodes are out of communication range, some nodes are broken, and lack of flexible because of its immobile characters et al.

> The Multi-Robot Sensor Network (MRSN) which is comprised of large numbers of small, simple and inexpensive wireless robots can solve the problems mentioned above. In MRSN, besides perceived sensors, the robot also can be set up digital camera or voice recording equipment, even video camera according to the applications' requirement. Hence, it can detect more detailed information like pictures, video or sound etc.

> In this section, at first we introduce the MRSN and its applications. The open problems and one of the effective methods, data aggregation is presented. At last we show a preview of this chapter.
