Flocking based distributed deployment for target monitoring in mobile sensor networks: Algorithm and implementation

Improved algorithms based on our previous work on distributed deployment for monitoring over a region of interest centered at a target which could be stationary and mobile are first provided. Then a developed platform consisting of ComBots is introduced detailedly. Implementation of the proposed algorithms on the developed experimental platform is discussed. Simulations demonstrate the high effectiveness of the algorithms and experimental results further show the effectiveness of our platform consisting of 7 ComBots and the flocking based deployment algorithms.