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Wireless ad-hoc networks are distributed systems that often reside in error-prone environments. Self-stabilization lets the system recover autonomously from an arbitrary system state, making the system recover from errors and temporarily broken assumptions. Clustering nodes within ad-hoc networks can help forming backbones, facilitating routing, improving scaling, aggregating information, saving power and much more. The authors present a self-stabilizing distributed (k,r)-clustering algorithm. A (k,r)-clustering assigns k cluster heads within r communication hops for all nodes in the network while trying to minimize the total number of cluster heads.
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