From: MSNS: mobile sensor network simulator for area coverage and obstacle avoidance based on GML
Characteristics | Potential[7] | Constrained coverage[8] | VEC[10] | VOR[10] | Minimax[10] | Centroid[4] | Floor[2] | MSNS |
---|---|---|---|---|---|---|---|---|
Basic Strategy | Repulsive power between sensors | Repulsive power between sensors and gravitation for keeping k -connect | Repulsive power between sensors | The first moves to Voronoi vertex | Move to circumcircle of Voronoi vertex | Move to center of Voronoi vertex | Move to floor line with at least overlap of sensing area | Repulsive power between sensors, gravitation for keeping k -connect repulsive between obstacle and sensor |
Coverage Type | sensor coverage | sensor coverage | sensor coverage | sensor coverage | sensor coverage | sensor coverage | sensor coverage | sensor coverage |
Connectivity | x | o | x | x | x | x | o | o |
Asynchronous | o | o | x | x | x | x | x | o |
Avoid obstacle | o | x | Δ | x | x | x | o | o |
Control message | x | x | x | x | x | x | O | x |