Guaranteeing Asymptotic Stability of Clustering by Autonomous Decentralized Structure Formation

Clustering mechanisms are used in ad hoc networks to achieve network load-balancing and/or battery power saving. We have proposed a framework for autonomous decentralized control that creates spatial structures with finite size by using back diffusion drift. We have also proposed its application to autonomous clustering in ad hoc networks. However problems with the stability of the resulting cluster structure remain. If the structure is unstable, it is difficult to keep the order of the structure in dynamic environments. This study examines the problems of realizing asymptotic cluster stability and proposes an effective solution.