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The authors consider a hybrid wireless sensor network with static and mobile nodes. Static sensors monitor the environment and report events occurring in the sensing field. Mobile sensors are then dispatched to visit these event locations to conduct more advanced analysis. The sensing field may contain obstacles of any shape and size. A big challenge is how to dispatch the mobile sensor to the event location without colliding with any obstacles and in a shortest path. Therefore this paper is to dispatch the mobile sensor to the event location in a hybrid wireless sensor network in the presence of obstacles.
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