| Begin: |
| a. Each current node searches for other nodes in its |
| range of and chooses one that has the maximum |
| RSSI value (inversely proportional to the distance), |
| then marks it as target node; |
| b. Request-paired packet is sent from current node to |
| target node. |
| If target node is idle { |
| It responses the request and marks the sender |
| as its paired node, then sends back |
| confirmation-paired packet to the current node; |
| so the target node becomes the paired node of |
| current node; GOTO c; |
| } |
| Else { |
| The target node is in the process of pairing |
| with other nodes; the current node will wait |
| for the time slot of τthen select another target |
| node with the second largest RSSI value and |
| continue pairing process with reference to a. |
| } |
| Repeat the above procedure until the current node |
| finds its all neighbors are paired with others or the |
| time domain is over. |
| c. Information is exchanged between paired nodes. |
| If the worst condition of coverage occurs () |
|
{
|
| A NUMBER is generated randomly in the range |
| of [−1, +1] by the node sent the request-paired |
| packet. |
| If |
| The perceptive direction is clockwise adjusted |
| for π/6; |
| Else counterclockwise rotates for π/6; |
| Taking inverse operation to NUMBER value, the |
| sensor obtains and sends it to another |
| paired node. Then, the paired node does the same |
| operation as follows: |
| If |
| The perceptive direction is clockwise adjusted |
| for π/6; |
| Else counterclockwise rotates for π/6; |
| end if |
| d. Force analysis between two paired nodes: each node |
| calculates θ, then computes Δφ according to(4) |
| and (8) respectively; |
| End. |