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Title: Energy-efficient anti-flocking control for mobile sensor networks on uneven terrains
Authors: Ganganath, N
Yuan, W 
Fernando, T
Cheng, CT 
Issue Date: 2018
Source: IEEE transactions on circuits and systems. II, Express briefs, Dec. 2018, v. 65, no. 12, p. 2022-2026
Abstract: Anti-flocking controlled mobile sensor networks (MSNs) have demonstrated impressive dynamic area coverage performances. Even though MSNs are often utilized in outdoor environments that consist of uneven terrains, existing anti-flocking control protocols are designed for flat terrain navigation. Thus, they tend to maneuver mobile sensory units along shortest paths between navigation goals in an area of interest. Even though navigating along shortest paths can be both time- and energy-efficient on flat terrains, such motions can often result in excessive energy consumptions on uneven terrains. This brief proposes an energy-efficient anti-flocking control protocol for MSNs based on a terrain adaptation force and a navigation goal selection method. The proposed control protocol encourages mobile sensory units to follow terrain contours whenever feasible. Test results show that the proposed control protocol is a promising energy-efficient solution for MSNs operating on uneven terrains.
Keywords: Anti-flocking
Distributed motion control
Mobile sensor networks
Uneven terrains
Publisher: Institute of Electrical and Electronics Engineers
Journal: IEEE transactions on circuits and systems. II, Express briefs 
ISSN: 1549-7747
EISSN: 1558-3791 (electronic)
DOI: 10.1109/TCSII.2018.2822324
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 Ganganath, N., Yuan, W., Fernando, T., Iu, H. H. & Cheng, C. T. (2018). Energy-efficient anti-flocking control for mobile sensor networks on uneven terrains. IEEE Transactions on Circuits and Systems II: Express Briefs, 65(12), 2022-2026 is available at 10.1109/TCSII.2018.2822324
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