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Title: Energy-efficient semi-flocking control of mobile sensor networks on rough terrains
Authors: Yuan, W 
Ganganath, N
Cheng, CT
Valaee, S
Guo, Q
Lau, FCM 
Keywords: Semi-flocking
Mobile sensor networks
Distributed control
Rough terrains
Issue Date: 2019
Publisher: Institute of Electrical and Electronics Engineers
Source: IEEE transactions on circuits and systems. II, Express briefs, 2019, v. 66, no. 4, p. 622-626 How to cite?
Journal: IEEE transactions on circuits and systems. II, Express briefs 
Abstract: 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 brief, 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.
ISSN: 1549-7747
EISSN: 1558-3791
DOI: 10.1109/TCSII.2018.2853654
Rights: © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
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The following publication Yuan, W., Ganganath, N., Cheng, C. T., Valaee, S., Guo, Q., & Lau, F. C. (2019). Energy-Efficient Semi-Flocking Control of Mobile Sensor Networks on Rough Terrains. IEEE Transactions on Circuits and Systems II: Express Briefs, 66(4), 622-626 is available at
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