Hybrid method of self-organization of wireless sensor and actuator networks

Wireless sensor and actuator networks (WSANs) are used for longterm observation and monitoring. Such long-lasting deployments require different maintenance tasks, such as the replacement of nodes - motes, and the most critical initial installation of the sensor nodes. We propose the algorithm of the self-organization for wireless sensor and actuator networks, which determines the productivity of the network during operation. During maintenance, the actual motes placement is modified resulting in temporary topology fluctuations, which are very expensive in terms of energy. We analyzed an algorithm for constructing a route taking into account aspects of the effective energy usage of network objects.