Dynamic boundary tracking in active sensor networks

In this paper, the motion coordination algorithm using active agents (or sensor nodes) in active sensor networks is proposed to track the dynamic boundary for environmental monitoring. While most of dynamic boundary tracking algorithms in the literature were studied under the assumption that the boundary and/or its evolving rate is known a priori, the proposed algorithm is assumed that the individual active agent can measure the state of environment locally without any information of the boundary. When the boundary in the form of either a circle or an ellipsoid is evolving dynamically, the active agent will be designed to achieve two objectives: one is to track the desired value based on the measured information and the other is to maintain a uniform distance between adjacent agents. The algorithm structure based on a finite state machine is proposed to achieve two objectives. Finally, it will be shown in the simulations that all given agents converge to a desired boundary layer and maintain a constant distance uniformly among them to the boundary of evolving dynamically in the form of a circle and an ellipse.