Multirobot Federating Method for Disjoint Segments in Wireless Sensor Network Based on Optimal Anchor Point and Local Priority

Table 1

Symbols and definitions.

Symbol	Definition
	Island collection
	Collection of island’s nodes
	Collection of island centers
	Number of nodes in the island
	Number of islands
	Number of anchors in each island
	Path cost between islands
	Relay deployment energy cost
	Number of node groups
	Collection of nodes in a group
	Island centroids collection
	Global network zone
	Node degree
	Network affairs
	Local network collection
	Outreach islands
	Relay node communication radius
	Delayed evaluation function