A Decentralized and Adaptive Flocking Algorithm for Autonomous Mobile Robots
GPC-WORKSHOPS '08 Proceedings of the 2008 The 3rd International Conference on Grid and Pervasive Computing - Workshops
Flocking based distributed self-deployment algorithms in mobile sensor networks
Journal of Parallel and Distributed Computing
Flocking based sensor deployment in mobile sensor networks
Computer Communications
A flocking-based approach to maintain connectivity in mobile wireless ad hoc networks
Applied Soft Computing
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Target tracking is an important task in sensor networks, especially in mobile sensor networks. Flocking control is used to control a mobile sensor network to track a target. However, there are some existing problems in this control method, such as network fragmentation, loss of formation and poor tracking performance. In order to handle these problems we propose a novel approach to flocking control of a mobile sensor network to track a moving target within changing environments. In our approach, each agent can cooperatively learn the network's parameters to decide the size of network in a decentralized fashion so that the connectivity, formation and tracking performance can be improved when avoiding obstacles. In addition, to demonstrate the benefit of our approach a comparison between this approach and the existing method is given. Computer simulations are performed to demonstrate the effectiveness of the proposed approach.