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Title: Path-planning-enabled semiflocking control for multitarget monitoring in mobile sensor networks
Authors: Yuan, W 
Ganganath, N 
Cheng, CT 
Qing, G
Lau, FCM 
Zhao, Y
Issue Date: Jul-2020
Source: IEEE transactions on industrial informatics, July 2020, v. 16, no. 7, p. 4778-4787
Abstract: Mobile sensor networks (MSNs) are good candidates for large-scale unattended surveillance applications. However, it is challenging to track moving targets due to their complex dynamic behaviors. Semiflocking algorithms have been proven to be efficient in controlling MSNs in both area coverage and target tracking applications. While many existing literatures on the study of semiflocking algorithms often assume an area of interest (AoI) to be regular and with unified traversal cost, the uneven and rough landscapes in real-life applications have imposed extra challenges and raised demands for new management strategies. In this article, a mobility map is used to incorporate different costs associated with irregular terrains which results in different maximum allowed speeds on nodes in different regions. In order to reduce target detection time and node energy consumption, a heuristic search algorithm is developed to find time-efficient and feasible paths between nodes and sensing targets. Under the proposed algorithm, nodes can effectively select a target to track or search for new targets in the AoI. Results of extensive experiments show that semiflocking-controlled nodes together with path planning can reach their targets faster with lower energy consumption compared to three exiting flocking-based algorithms.
Keywords: Semi-flocking
Path planning
Mobility maps
Mobile sensor networks
Area coverage
Target tracking
Publisher: Institute of Electrical and Electronics Engineers
Journal: IEEE transactions on industrial informatics 
ISSN: 1551-3203
EISSN: 1941-0050
DOI: 10.1109/TII.2019.2959330
Rights: © 2019 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 W. Yuan, N. Ganganath, C. Cheng, G. Qing, F. C. M. Lau and Y. Zhao, "Path-Planning-Enabled Semiflocking Control for Multitarget Monitoring in Mobile Sensor Networks," in IEEE Transactions on Industrial Informatics, vol. 16, no. 7, pp. 4778-4787, July 2020 is available at
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