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In this paper, the authors present the directed expansion algorithm, a distributed and proactive topology control algorithm used for increasing the coverage of mobile nodes over a geographical area while maintaining network connectivity. The proposed approach is fully distributed and assumes a free-space wireless propagation model and no-obstacle navigation field. The algorithm relies on a virtual network backbone, and assumes the existence of a distributed mechanism for computing the network backbone. The proposed algorithm also maintains a fully connected topology by making the expansion task aware of the location and extent of the network backbone. They describe the directed expansion algorithm in detail, and present simulation results and performance analysis.
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