Devising Mobile Sensing and Actuation Infrastructure with Drones

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

Algorithm 3 Path-planning algorithm in the actuator network.

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$P S L$ = runSmartDataProcessing( D) ▹ Get PSL with smart data processing
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$V L =$ List(empty) ▹ Initialize visited list $V L$
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$A C L$ = List(empty) ▹ Initialize actuator correlation value list $A C L$
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for j = 1 to $|A|$ do ▹ Calculate $a c_{j}$ for all actuators
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$a c_{j} = \sum_{i = 1}^{|P S L|} c o r r_{s_{i}, a_{j}}$
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$A C L$ .insert( $a c_{j}$ )
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end for
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if data ferry then
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while $V L \neq A$ do ▹ Run until DaaG visits every actuator
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$a_{j}$ = getActuatorToCommunicate( $A \ V L, A C L$ ) ▹ Get $a_{j}$ with highest $a c_{j}$ in $A \ V L$
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$(p o s_{a x}, p o s_{a y}) =$ getPos( $a_{j}$ )
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$V L$ .insert( $a_{j}$ ) ▹ Put $a_{j}$ into VL
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moveDaaGTo $(p o s_{a x}, p o s_{a y})$
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end while
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else if multi-hop then
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$a_{j}$ = getActuatorToCommunicate( $A, A C L$ )
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$(p o s_{a x}, p o s_{a y}) =$ getPosition( $a_{j}$ )
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$s_{i}$ = getNearestSensorFrom( $a_{j}$ )
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$(p o s_{s x}, p o s_{s y}) =$ getPosition( $s_{i}$ )
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for k = 1 to $n_{d}$ do
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moveDaaGTo $(\begin{matrix} \frac{k \cdot p o s_{a x} + (n_{d} + 1 - k) \cdot p o s_{s x}}{n_{d} + 1}, \frac{k \cdot p o s_{a y} + (n_{d} + 1 - k) \cdot p o s_{s y}}{n_{d} + 1} \end{matrix})$
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end for
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end if