Table 1 Algorithmic notation and data structures

RED color

k-symmetric neighbor

BLUE color

k-asymmetric neighbor

BLACK color

Backbone node

n

Total number of nodes in the network

Tx _max

Maximum transmission range

$N_i^{*}$

Set of all one-hop neighbors of node i

$N_i^k$

Set of k least-distant neighbors of node i

$T{x}_i^k$

Transmission range of node i required to reach the farthest neighbor in $N_i^k$

d _{(i, j)}

Estimated distance between nodes i and j

T _max

Maximum delay a node must wait, before initiating the next step

T _{d, fwd}

Forwarding delay for TC message

T _interval

Forwarding interval for TC message

i.msgCache_

{ nb.Identity_; nb.Distance_; nb.Color_;

nb.Backbone_; nb.HopCount_; } entry;