Coverage and connectivity control of wireless sensor networks under mobility

We present a novel sensor movement control strategy in which a commander controls a cluster of mobile sensors to monitor a target region ahead of the commander, and in the direction of the commander´s movement. Once the speed and direction of the movement of the commander are changed, the new positions of the sensors are decided by our control algorithm and the sensors move to their new positions at a speed and in a direction also determined by the algorithm. After an upper bounded adjustment time, the sensors all arrive at their new positions and the commander monitors a new region by these sensors. Connectivity between sensors during movement is guaranteed. Simulation results are presented to demonstrate the effectiveness of the movement strategy.