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A Fast Formation Flocking Scheme for a Group of Interactive Distributed Mobile Nodes in Autonomous Networks

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Abstract

Ubi-Com promises to provide a diversity of services at anytime and anyplace. The mobile nodes are envisioned to cooperate freely and move on a plane with the help of the efficient control and distributed coordination strategies. To achieve this goal, mobile nodes group communications in Ubi-Com is becoming increasing important and challenging. In this paper, we focus on the formation flocking in a group of autonomous mobile nodes. In the scenario, there are two kinds of nodes: the leader node and the follower nodes. The follower nodes are required to follow the leader node wherever it goes (following), while keeping a particular formation they are given in input (flocking). A novel scheme is proposed on the basis of the relative motion theory. Extensive theoretical analysis and simulation results have demonstrated that this scheme provides the follower nodes an efficient and timely method to follow the leader with the shortest path and the shortest time. In addition, the reported scheme is scalable in the sense that the processing load in each node is not increasing with more nodes in a group.

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Notes

  1. Without losing generality, we can assume the origin of the coordinate system to be the position of the node.

  2. We can refer to two coordinate axes as thex andy axes.

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Acknowledgements

This research has been supported by the US National Science Foundation CAREER Award under Grant No. CCF-0545667. The work of Mr. Lei Shu is supported by the Lion project supported by Science Foundation Ireland under grant no. SFI/08/CE/I1380 (Lion-2), and by the European project CONET (Cooperating Objects NETwork of excellence) under grant no. 224053.

We would like to thank many colleagues and anonymous reviewers for their constructive criticism and helpful suggestions for improving the overall quality of this paper.

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Authors and Affiliations

  1. Depa. of Computer Science, Georgia State University, Atlanta, GA, USA

    Naixue Xiong

  2. Simula Research Laboratory, Martin Linges, Fornebu, Norway

    Yan Zhang

  3. Depa. of Computer Science, St. Francis Xavier University, Antigonish, Canada

    Laurence T. Yang

  4. Mokwon University, Daejeon, Korea

    Sang-Soo Yeo

  5. Digital Enterprise Research Institute, National University of Ireland, Galway, Ireland

    Lei Shu

  6. School of Information, Zhongnan University of Economics and Law, Wuhan, China

    Fan Yang

Authors
  1. Naixue Xiong

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  2. Yan Zhang

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  3. Laurence T. Yang

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  4. Sang-Soo Yeo

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  5. Lei Shu

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  6. Fan Yang

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Corresponding author

Correspondence toNaixue Xiong.

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Xiong, N., Zhang, Y., Yang, L.T.et al. A Fast Formation Flocking Scheme for a Group of Interactive Distributed Mobile Nodes in Autonomous Networks.Mobile Netw Appl15, 477–487 (2010). https://doi.org/10.1007/s11036-009-0187-0

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