Stability of a class of multi-agent tracking systems with unstable subsystems

In this work, we pre-deploy a large number of smart agents to monitor an area of interest. This area could be divided into many Voronoi cells by using the knowledge of Voronoi diagram and every Voronoi site agent is responsible for monitoring and tracking the target in its cell. Then, a cooperative relay tracking strategy is proposed such that during the tracking process, when a target enters a new Voronoi cell, this event triggers the switching of both tracking agents and communication topology. This is significantly different from the traditional switching topologies. In addition, during the tracking process, the topology and tracking agents switch, which may lead the tracking system to be stable or unstable. The system switches either among consecutive stable subsystems and consecutive unstable subsystems or between stable and unstable subsystems. The objective of this paper is to design a tracking strategy guaranteeing overall successful tracking despite the existence of unstable subsystems. We also address extended discussions on the case where the dynamics of agents are subject to disturbances and the disturbance attenuation level is achieved. Finally, the proposed tracking strategy is verified by a set of simulations

Boundary node selection algorithms in WSNs

Physical damage and/or node power exhaustion may lead to coverage holes in WSNs. Coverage holes can be directly detected by certain proximate nodes known as boundary nodes (B-nodes). Due to the sensor nodes' redundant deployment and autonomous fault detection, holes are surrounded by a margin of B-nodes (MB-nodes). If all B-nodes in the margin take part in the hole recovery processes, either by increasing their transmission power or by relocating towards region of interest (ROI), the probability of collision, interference, disconnection, and isolation may increase affecting the rest of the network's performance and QoS. Thus, distributed boundary node selection algorithms (BNS-Algorithms) are proposed to address these issues. BNS-algorithms allow B-nodes to self-select based on available 1-hop information extracted from nodes' simple geometrical and statistical features. Our results show that the performance of the proposed distributed BNS-algorithms approaches that of their centralized counterparts. © 2011 IEEE