Utility-Oriented Placement of Actuator Nodes with a Collaborative Serving Scheme for Facilitated Business and Working Environments

Figure 5

Locations of POIs and ANs in the 2D field example with the inclusion of an obstacle. Crosses and dash circles denote ANs and service coverage of ANs. Circles, squares, and diamonds denote POIs with 25, 40, and 55 consumed utilities, respectively. The black block denotes the obstacle.