Connectivity Preserving Distributed Maximizing Coverage Algorithm for Three Dimensional Mobile Sensor Networks

Considering an under supervised 3D space where a group of mobile devices with limited sensing and communicating capabilities are deployed, this paper aims at proposing a decentralized self-deployment algorithm for agents to get maximum connected coverage topology. The problem is modeled as maximization which is solved completely distributed. In fact each agent tries to maximize its sensing volume while preserving connectivity and having high quality communication links. Then each agent knowing distance of its neighbors defines an error function and tries to decrease the error by changing its positions through gradient descent algorithm. Keywords— mobile sensor networks, coverage, connectivity, QOS, gradient descent