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Table 1 Moving method of mobile sensors

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

  1. O, support; Δ, partial support; x, not support.