This paper addresses the problem 2D Crystal Photo of the connectivity control and the self-organized deployment/dispersion of a team of mobile ad hoc sensor nodes.First, to reduce redundant communication links while preserving global connectivity, a distributed link removal algorithm is developed that only requires local information of no more than two-hop neighbors.Secondly, for the purpose of preserving essential links while avoiding collisions, a combined piecewise-continuous Shoe Accessories motion controller is designed to regulate the motion of mobile sensors between two consecutive switches.
The proposed hybrid control system can autonomously disperse a team of mobile sensors towards their final configuration with guaranteed connectivity and collision avoidance.Theoretical analysis and computer simulations have confirmed the efficiency and scalability of the proposed schemes.