中文摘要：

无线传感器网络自身修复机制不足以完成大规模覆盖空洞的修复任务，需要借助具有中继节点部署能力的空中机器人辅助实现．为了提高多空中机器人中继节点部署效率，从WSN最优中继节点位置求解的消息开销和分布均匀性角度出发，提出一种基于同调理论的多空中机器人WSN大规模覆盖空洞修复方法．以大规模覆盖空洞为部署环境，在同调理论的基础上。结合Haiton序列，以依次递增的方式，产生一组部署位置均匀的候选中继节点；在所给出的单纯复形度及其索引值定义基础上，结合Cech复形相关性质，剔除冗余候选中继节点，最优中继节点候选部署位置．在最优中继节点部署位置基础上，以最小化多机器人总消耗为目标，构建中继节点最优位置部署模型，实现WSN大规模覆盖空洞修复．仿真实验结果表明，给出的方法能够在提高多空中机器人中继节点部署效率的同时，有效地降低网络的消息开销．

英文摘要：

The recovery task for large-scale coverage hole isn＇t completed by the self repair mechanism of WSN, which can be realized by aerial robots with capacity of relay node deployment. In order to improve the efficiency of multi-robot relay node deployment, a homology-based large-scale coverage hole recovery method in WSN by multi-robot is proposed from the angle of message overhead and distribution uniformity for solving the position of optimal relay node deployment. Firstly, the positions of candidate relay nodes are incrementally generated by the Halton Sequence based on the homology theory on the large-scale coverage hole region. After that, on the basis of the definition of sim_plicial complex and its index value, the redundant nodes in candidate relay nodes are eliminated by the related properties of the Cech complex, and then the positions of optimal relay node deployment are obtained. Finally, the model of the positions of optimal relay node deployment is established with the goal of minimizing the total cost of multiple aerial robots according to the positions of optimal relay node deployment. The experimental results show that proposed method can improve the efficiency of multi-robot relay node deployment while effectively reducing the message overhead of WSN.