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Table 1 Comparison of five schemes in terms of their moving distances (sensing area: 1000 m × 1000 m)

From: An efficient data collection path planning scheme for wireless sensor networks with mobile sinks

Scheme Node = 10 Node = 20 Node = 30 Node = 40 Node = 50
CCPPA_B 3338.775 4263.916 5036.789 5690.48 6269.015
ICPPA_B 3111.391 3839.629 4431.876 4922.581 5346.46
CCPPA_A 3427.487 4462.973 5325.835 5988.507 6617.562
ICPPA_A 3194.238 4036.936 4722.342 5228.729 5715.285
HTPA 3257.01 4145.382 4869.18 5411.259 5924.781