Fig. 6From: An efficient data collection path planning scheme for wireless sensor networks with mobile sinksExample of the moving path calculation for the ICPPA. Lk is the location of sensor node k,, and r is the radius of the communication range for of sensor node. Let \(I_{k} \left( {I_{{k_{x} }} , I_{{k_{y} }} } \right)\) be the inner center of sensor node kBack to article page