Research Article
Multirobot Federating Method for Disjoint Segments in Wireless Sensor Network Based on Optimal Anchor Point and Local Priority
Algorithm 1
Island Center Selection Algorithm.
Input island selection ,number of node groups k | Output island center collection | 1 μ ← null; C ← null; t =0; | 2 μ ← pick k nodes from; | 3 while ture do | 4 for i =1 to m | 5 for j =1 to k | 6 disted ← calculate the similarity between node | And centroid; | 7 end for | 8 end for | 9 for i =1 to m | 10 find the with the smallest similarity set of disted, | And divide the into the corresponding group ; | 11 end for | 12 Cλ ← Cλ∪{ηi}; | 13 ←recalculate the centroids of all nodes in Cλ; | 14 if== | 15 t++; | 16 if t==10 | 17 break; | 18 end if | 19 end if | 20 end while | 21 according to the calculation of Cλ, the island center set | is obtained; |
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