Towards an Optimal Energy Consumption for Unattended Mobile Sensor Networks through Autonomous Sensor Redeployment

Algorithm 2

For each round

 For each node 𝑘 in ring 𝐶^𝑗_𝑖 of corona 𝐶_𝑖

 Find its nearest neighbor 𝑚;

 Calculate the angle 𝜃 between the line 𝑜𝑚 and 𝑜𝑥;

 Calculate node m’s best location 𝑚_opt1 and 𝑚_opt2

  Let 𝜃₁=𝜃+𝛼;𝜃₂=𝜃−𝛼;

  𝑥_𝑚opt1=cos𝜃₁⋅𝑑;𝑦_𝑚opt1=sin𝜃₁𝑥⋅𝑑_𝑚opt2=cos𝜃₂⋅𝑑;𝑦_𝑚opt2=sin𝜃₂⋅𝑑

 If distance (𝑚_opt1,𝑘) < distance (𝑚_opt2,𝑘)

  Move node k to location (𝑥_𝑚opt1,𝑦_𝑚opt1);

  While there exists node 𝑞 with coordinate (𝑥_𝑚opt1,𝑦_𝑚opt1)

   𝑥_new=cos(𝜃₁𝑦−𝜀)⋅𝑑_new=sin(𝜃₁−𝜀)⋅𝑑

    Move node 𝑞 to location 𝑞_new (𝑥_new,𝑦_new);

 Else move node 𝑘 to location (𝑥_𝑚opt2,𝑦_𝑚opt2);

  While there exists node 𝑞 with coordinate (𝑥_𝑚opt2,𝑦_𝑚opt2)

    𝑥_new=cos(𝜃₂𝑦+𝜀)⋅𝑑_new=sin(𝜃₂+𝜀)⋅𝑑

    Move node 𝑞 to location 𝑞_new (𝑥_new,𝑦_new);