Connectivity-Constrained Placement of Wireless Chargers

In this article, we first study the problem of Connected wIReless Charger pLacEment (CIRCLE). That is, given a fixed number of directional wireless chargers and candidate positions, determining the placement position and orientation angle for each charger under connectivity constraint for wireless chargers such that the overall charging utility is maximized. To address CIRCLE problem, we first consider a relaxed version of CIRCLE (CIRCLE-R for short). We prove that CIRCLE-R falls into the realm of maximizing a submodular set function subject to a connectivity constraint, and propose an algorithm whose approximation ratio is at least 1.5 times better than that of the state-of-the-art algorithm. Next, we reduce the solution space for CIRCLE from infinite to finite, and propose an algorithm with a constant approximation ratio to address CIRCLE. Besides, we consider a variant of CIRCLE, CIRCLE-NB, and propose an approximation algorithm to address it. We conduct both simulation experiments and field experiments to verify our theoretical findings. The results show that our algorithm can outperform comparison algorithms by 83.35 percent.