Distributed anti-flocking control for mobile surveillance systems

Nuwan Ganganath, Chi Tsun Cheng, Chi Kong Tse

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

15 Citations (Scopus)


Mobile sensor networks (MSNs) are commonly used for monitoring an area of interest (AoI) in security and surveillance systems. Maximizing the area coverage is one of the primary objectives of such systems. With the added mobility over traditional stationary sensor nodes, mobile nodes can adjust their positions inside the AoI to increase the overall coverage. In this paper, we propose an emergent motion control algorithm for MSNs utilized in surveillance applications. The proposed algorithm is inspired by the anti-flocking behaviour of solitary animals. It facilitates robust distributed control for the MSNs to maximize the network coverage. Computer simulations were performed to analyze performances of the proposed algorithm. Simulation results show that under certain conditions, a MSN with the proposed algorithm can achieve similar network coverage as one with centralized anti-flocking control. Furthermore, the proposed distributed control algorithm provides improved scalability and adaptivity over the centralized anti-flocking control and coordinated motion control models.
Original languageEnglish
Title of host publication2015 IEEE International Symposium on Circuits and Systems, ISCAS 2015
Number of pages4
ISBN (Electronic)9781479983919
Publication statusPublished - 1 Jan 2015
EventIEEE International Symposium on Circuits and Systems, ISCAS 2015 - Lisbon, Portugal
Duration: 24 May 201527 May 2015


ConferenceIEEE International Symposium on Circuits and Systems, ISCAS 2015


  • anti-flocking
  • coverage
  • distributed control
  • Mobile sensor networks
  • surveillance systems

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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