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International Journal of Distributed Sensor Networks
Volume 2012 (2012), Article ID 672436, 15 pages
Research Article

Self-Organized Connectivity Control and Optimization Subjected to Dispersion of Mobile Ad Hoc Sensor Networks

School of Computer and Communication Engineering, University of Science and Technology Beijing, Beijing 100083, China

Received 3 May 2012; Revised 11 July 2012; Accepted 29 July 2012

Academic Editor: Zhiguo Ding

Copyright © 2012 Zhenqiang Mi et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper addresses the problem of the connectivity control and the self-organized deployment/dispersion of a team of mobile ad hoc sensor nodes. First, to reduce redundant communication links while preserving global connectivity, a distributed link removal algorithm is developed that only requires local information of no more than two-hop neighbors. Secondly, for the purpose of preserving essential links while avoiding collisions, a combined piecewise-continuous motion controller is designed to regulate the motion of mobile sensors between two consecutive switches. The proposed hybrid control system can autonomously disperse a team of mobile sensors towards their final configuration with guaranteed connectivity and collision avoidance. Theoretical analysis and computer simulations have confirmed the efficiency and scalability of the proposed schemes.