Different Sensing Coverage Degrees In3d Mobile Sensor Actor Networks

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 neighbouring nodes, an error function which depends on pairwise distance between nodes is described. The maximization is encoded to an error minimization problem that is solved using gradient descent algorithm and will yield in moving sensors into appropriate positions. Simulation results are presented in two different conditions that importance of sensing coverage degree support of environment is very high and is low.