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Title: Path planning for semi-flocking-controlled mobile sensor networks on mobility maps
Authors: Yuan, WM 
Ganganath, N
Cheng, CT 
Qing, G
Lau, FCM 
Issue Date: 2018
Source: 2018 International Symposium on Circuits and Systems (ISCAS), Florence, Italy, 27-30 May 2018, p. 1-5
Abstract: Mobile sensor networks (MSNs) are useful in monitoring outdoor environments. Semi-flocking algorithms have been proven to be efficient in controlling MSNs in area sensing and target tracking applications. Even though outdoor environments may consist of irregular regions with different traverse costs, existing semi-flocking algorithms assume an area of interest (AoI) to be regular and with uniform costs. Such an assumption limits target tracking capabilities of a MSN. In this work, we model operating terrains using a mobility map that incorporates the speed limits of different sub-regions. To gather the required number of mobile sensor nodes for target tracking, an A∗ heuristic search algorithm is used to find time-efficient paths connecting nodes to targets. Nodes can acquire navigation information using the A∗-based path planning module and then traverse along the time-efficient paths until they reach the targets. Simulation results verify the effectiveness of the proposed method over an existing semi-flocking algorithm.
Keywords: Semi-flocking
Path planning
Mobility maps
Target tracking
Mobile sensor networks
Publisher: Institute of Electrical and Electronics Engineers
ISBN: 978-1-5386-4881-0 (electronic)
978-1-5386-4882-7 (print on demand(PoD))
EISSN: 2379-447X
DOI: 10.1109/ISCAS.2018.8351449
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.
The following publication Yuan, W., Ganganath, N., Cheng, C. T., Qing, G., & Lau, F. C. M. (2018). Path Planning for Semi-Flocking-Controlled Mobile Sensor Networks on Mobility Maps. In IEEE International Symposium on Circuits and Systems (ISCAS) (pp. 1-5). IEEE is available at
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