Figure 1: Comparison of RNSA, V-Detector, and GB-RNSA. (To reach the expected coverage , three algorithms resp., need 561, 129, and 71 mature detectors, where the radius of self is 0.05, the radius of detector for RNSA is 0.05, and the smallest radius of detectors for V-Detector and GB-RNSA is 0.01).