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We propose and develop home security system based on sensor network (HSSN) configured by sensor nodes including radio frequency (RF), ultrasonic, temperature, light and sound sensors. Our system can acknowledge security alarm events that are acquired by sensor nodes and relayed in the hop-by-hop transmission way. There are sensor network, home security mobile robot (HSMR) and home server in this system. In the experimental results of this system, we presented that our system has more enhanced performance of response to emergency context and more speedy and accurate path planning to target position for arriving an alarm zone and acquiring the context-aware information.
Kim et al. (Sun,) studied this question.