Enabling Cyber Physical Systems with Wireless Sensor Networking Technologies, Multiagent System Paradigm, and Natural Ecosystems

Table 3

Messages exchanged between sensors.

Message	Description
JoinService(ids, types, role, idCH)	It is initiated by a cluster head (CH) sensor and then forwarded by other sensors with each sensor indicating its ID, its type, its role (BS, SS), and the ID of the cluster head to which it belongs
RollBack(path, ids)	It is sent by a sensor s to the neighbor from which it first received the JoinService() message. It contains the paths from s to all the leaf sensors (a leaf is a sensor that did not receive any reply for the JoinService() message that it has sent after a given period of time (timer expired))
ReplyJoinService(ids, types)	It is sent by a sensor s to every sensor from which a JoinService() message was received