Energy-Efficient Semi-Flocking Control of Mobile Sensor Networks on Rough Terrains

Yuan, W, Ganganath, N, Cheng, C, Valaee, S, Guo, Q and Lau, F 2018, 'Energy-Efficient Semi-Flocking Control of Mobile Sensor Networks on Rough Terrains', IEEE Transactions on Circuits and Systems II: Express Briefs, vol. 66, no. 4, pp. 622-626.


Document type: Journal Article
Collection: Journal Articles

Title Energy-Efficient Semi-Flocking Control of Mobile Sensor Networks on Rough Terrains
Author(s) Yuan, W
Ganganath, N
Cheng, C
Valaee, S
Guo, Q
Lau, F
Year 2018
Journal name IEEE Transactions on Circuits and Systems II: Express Briefs
Volume number 66
Issue number 4
Start page 622
End page 626
Total pages 5
Publisher IEEE
Abstract IEEE Mobile sensor networks (MSNs) with semi-flocking control protocols have demonstrated promising performances in both area coverage and target tracking. However, they may not operate at their highest efficiencies due to poor utilization of local information and deficient motion coordinations among mobile nodes. In this paper, a distributed semi-flocking control protocol based on local information exchanges is proposed to address the above issues in MSNs. Most existing semi-flocking control protocols are designed for patrolling in flat terrains and maneuvering nodes using shortest paths between two points on the given terrains. Such assumptions and the corresponding decisions do not apply well on real-world rough terrains and they often impose extra energy expenditure to mobile nodes. To address this problem, a terrain adaptation force and a navigation goal selection method are integrated into the proposed control protocol. Our study on rough terrains illustrates that the proposed control protocol is capable of achieving better performances in both area coverage and target tracking with lower energy expenditure when compared to the state-of-the-art flocking-based control protocols.
Subject Adaptive Agents and Intelligent Robotics
Keyword(s) distributed control
energy-efficient
Force
Mobile nodes
mobile sensor networks
Navigation
Protocols
rough terrains.
Semi-flocking
Switches
Target tracking
DOI - identifier 10.1109/TCSII.2018.2853654
Copyright notice © 2018 IEEE
ISSN 1549-7747
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