Devising Mobile Sensing and Actuation Infrastructure with Drones

. 2018 Feb 19;18(2):624. doi: 10.3390/s18020624

Algorithm 1 Backoff-based beaconing algorithm.

1:
$\forall c_{i} \in C : c_{i, b f} = c_{i, b m a x} = 1$
2:
while isDaaGWorking() do
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for each $c_{i}$ in C do
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$c_{i, b f} = c_{i, b f} - 1$ ▹ Update remaining backoff time of $c_{i}$
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if $c_{i, b f} \leq 0$ then
6:
$c_{i, f l a g}$ = runBeaconing( $c_{i}$ ) ▹ Broadcast beacon message with $c_{i}$
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if $c_{i, f l a g} > 0$ then
8:
$c_{i, b f} = c_{i, b m a x} = 1$
9:
D = runCommunication( $c_{i}$ ) ▹ Collect data D from nearby nodes with $c_{i}$
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else
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$c_{i, b f} = c_{i, b m a x} = \min (b_{m a x}, α \times c_{i, b m a x})$ ▹ Update backoff time of $c_{i}$
12:
end if
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end if
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end for
15:
if DaaG moves more than reset boundary length then
16:
$\forall c_{i} \in C : c_{i, b f} = 1$
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end if
18:
sleep( $t_{p e r i o d}$ ) ▹ Wait for $t_{p e r i o d}$
19:
end while