Optimal transmission range and actor movement in wireless sensor and Actor networks

We consider the design of wireless sensor and actor networks. Sensors are network nodes with a fixed location and limited transmission power. Actors are mobile nodes that may relocate their position to provide coverage to the sensor nodes. We consider the problem of relocating K actors from initial random locations to locations where every sensor node is able to communicate directly with at least one actor node. The new actor locations are chosen to minimize the transmission power that is necessary for the sensor nodes. Also, the pairing of actors to their new locations is such that the cost of relocating the actors is minimized.