Sensing coverage is a fundamental problem in sensors networks. Different from traditional isotropic sensors with sensing disk, directional sensors may have a limited angle of sensing range due to special applications. In this paper, we study the coverage problem in directional sensor networks (DSNs) with the rotatable orientation for each sensor. We propose the optimal coverage in directional sensor networks (OCDSN) problem to cover maximal area while activating as few sensors as possible. Then we prove the OCDSN to be NP-complete and propose the Voronoi-based centralized approximation (VCA) algorithm and the Voronoi-based distributed approximation (VDA) algorithm of the solution to the OCDSN problem. Finally, extensive simulation is executed to demonstrate the performance of the proposed algorithms
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