//initialization
;
 Set relevant parameters and coefficients;
 Set the max cycle-index ;
While ( ) do
{
 Renew the neighbor nodes set of node ;
 Read the current coordinate position of node ;
 Read all neighbor nodes of node ;
 Calculate resultant force to node according to formulas
   (8) (13);
 Calculate the target position of node at time
   according to formulas (14) and (15);
 Calculate the coverage rate of this movement and rotation
   according to formula (2);
Determine the mode of movement according to the
   coverage rate. Calculate influence factors . And determine
   the final moving direction of the node.
If , move node according to the mode and direction
   in step , or keep the current position of node unchanged.
;
}
End.
Algorithm 1: