A Data Forwarding Scheme Based on Delaunay Triangulation for Cyber-Physical Systems

Algorithm 1

Pseudo-code of Community Update Based on Delaunay Triangulation.

Input: A triangle community Δ𝑝₀𝑝₁𝑝₂(Γ) with n nodes in CPS.

Output: The community based on Delaunay triangulation,

 and the node is deployed at the vertex of the community.

begin

 Each sensor node in Δ𝑝₀𝑝₁𝑝₂(Γ) initializes its location and send

 ℎ𝑒𝑙𝑙𝑜−𝑚𝑒𝑠𝑠𝑎𝑔𝑒 and wait for the reply;

 Upon receiving ℎ𝑒𝑙𝑙𝑜−𝑚𝑒𝑠𝑠𝑎𝑔𝑒, acknowledge the sender

 alone with the location information of the current node;

 Update the neighborhood list according to the acknowledgements

 of the ℎ𝑒𝑙𝑙𝑜−𝑚𝑒𝑠𝑠𝑎𝑔𝑒; // Gather neighbor lists

 The directly communicative nodes store the information of

 other sensor nodes' locations;

 Sort locations from 𝑝₀, which is stored by the node, denoted

 as 𝑝₁,𝑝₂,…,𝑝_𝑛;

for (𝑟←1 to 𝑛)

do(Insert 𝑝_𝑟−1 into this triangle community)

 //Update the triangle community information

 if (𝑝_𝑟−1 and 𝑝_𝑟 can communicate with each other directly)

 Connect 𝑝_𝑟−1 and 𝑝_𝑟;

 𝑟++;

 else

 Search the nodes which can communicate with 𝑝_𝑟+1 directly;

 Put the formed triangles 𝑝_𝑖𝑝_𝑗𝑝_𝑘 into the triangle links;

 end if

do Search triangle links

 if (The circumcircle of 𝑝_𝑖𝑝_𝑗𝑝_𝑘 contains sensor node 𝑝_𝑣)

 Delete the co-edge of the triangle, and connect the three vertexes

 of 𝑝_𝑖𝑝_𝑗𝑝_𝑘 with 𝑝_𝑣;

 else

 Delete 𝑝₁ and 𝑝₂ and all the related edges from Δ𝑝₀𝑝₁𝑝₂(Γ);

 end if

Return(Γ)

end