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Title: Semi-flocking-controlled mobile sensor networks for dynamic area coverage and multiple target tracking
Authors: Yuan, W 
Ganganath, N
Cheng, CT
Qing, G
Lau, FCM 
Issue Date: 1-Nov-2018
Source: IEEE sensors journal, 1 Nov. 2018, v. 18, no. 21, p. 8883-8892
Abstract: IEEE Mobile sensor networks (MSNs) can provide sensing coverage to large areas of interest (AoIs). Area coverage and target tracking capabilities of MSNs are heavily depending on their motion control and coordination mechanisms. Many existing MSN motion control algorithms ignore or poorly utilize available information from their operating environment, thus lead to unsatisfactory monitoring performances. This paper proposes a fully distributed semi-flocking algorithm which enables mobile nodes to self-organize themselves based on mobility and sensing information via information exchanges among nearby nodes. A distributed mechanism is designed to maximize area coverage and target tracking performances of MSNs. Mobile nodes perform evaluations based on received information and switch between searching and tracking modes. Behaviors of MSNs controlled by the proposed algorithm are studied under different levels of information exchanges. Our study shows that the proposed semi-flocking algorithm is capable of delivering desirable area coverage and target tracking performances in MSNs.
Keywords: Information maps
Mobile sensor networks
Mobility sensing
Multi-agent systems
Publisher: Institute of Electrical and Electronics Engineers
Journal: IEEE sensors journal 
ISSN: 1530-437X
DOI: 10.1109/JSEN.2018.2863051
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.
Personal use is permitted, but republication/redistribution requires IEEE permission. See for more information.
The following publication W. Yuan, N. Ganganath, C.-T. Cheng, S. Valaee, Q. Guo, and F.C.M. Lau, “Semi-flocking-controlled mobile sensor networks for dynamic area coverage and multiple target tracking,” IEEE Sensors Journal, vol. 18, no. 21, pp. 8883-8892, 2018 is available at
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