Distributed Coverage and Connectivity Preserving Algorithm With Support of Different Sensing Coverage Degrees in 3D Mobile Sensor Actor Networks

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Executive Summary

Given a 3D space where should be supervised and a group of mobile sensor actor nodes with limited sensing and communicating capabilities, this paper aims at proposing a distributed self-deployment algorithm for agents to cover the space as much as possible by considering non-uniform sensing coverage degree constraint of environment while preserving connectivity. The problem is formulated as coverage maximization subject to connectivity and sensing coverage degree constraint. Considering a desired distance between neighboring nodes, an error function which depends on pair-wise distance between nodes is described.

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