Fig. 9From: A novel energy-efficient scheduling method for three-dimensional heterogeneous wireless sensor networks based on improved memetic algorithm and node cooperation strategyIMA–NCS-3D process simulation diagram. IMA–NCS-3D process simulation diagram. Where a, b, c, d, e, and f represent the initial map of node positions in the regular and irregular regions, the optimized position distribution map of IMA–NCS-3D, and the network connectivity state map using the minimum spanning tree representation, respectivelyBack to article page