Distributed Antiflocking Algorithms for Dynamic Coverage of Mobile Sensor Networks

Nuwan Ganganath, Chi Tsun Cheng, Chi Kong Tse

Research output: Journal article publicationJournal articleAcademic researchpeer-review

46 Citations (Scopus)


Mobile sensor networks (MSNs) are often used for monitoring large areas of interest (AoI) in remote and hostile environments, which can be highly dynamic in nature. Due to the infrastructure cost, MSNs usually consist of a limited number of sensor nodes. In order to cover large AoI, the mobile nodes have to move in an environment while monitoring the area dynamically. MSNs that are controlled by most of the previously proposed dynamic coverage algorithms either lack adaptability to dynamic environments or display poor coverage performances due to considerable overlapping of sensing coverage. As a new class of emergent motion control algorithms for MSNs, antiflocking control algorithms enable MSNs to self-organize in an environment and provide impressive dynamic coverage performances. The antiflocking algorithms are inspired by the solitary behavior of some animals who try to separate from their species in most of daily activities in order to maximize their own gains. In this paper, we propose two distributed antiflocking algorithms for dynamic coverage of MSNs, one for obstacle-free environments and the other for obstacle-dense environments. Both are based on the sensing history and local interactions among sensor nodes.
Original languageEnglish
Article number7387752
Pages (from-to)1795-1805
Number of pages11
JournalIEEE Transactions on Industrial Informatics
Issue number5
Publication statusPublished - 1 Oct 2016


  • Antiflocking
  • distributed control
  • dynamic coverage
  • information maps
  • mobile sensor networks (MSNs)
  • obstacle avoidance

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Information Systems
  • Computer Science Applications
  • Electrical and Electronic Engineering


Dive into the research topics of 'Distributed Antiflocking Algorithms for Dynamic Coverage of Mobile Sensor Networks'. Together they form a unique fingerprint.

Cite this