Devising Mobile Sensing and Actuation Infrastructure with Drones

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

Algorithm 4 DaaG IoT control decision algorithm.

1:
enableBeaconing() ▹ Run Algorithm 1 in background
2:
while isDaaGOperating() do
3:
$Δ l u x_{m a x} = 0$
4:
$s_{m a x} = 0$ ▹ Initialize variables
5:
$c o l l e c t D a t a F r o m S e n s o r s ()$ ▹ Run Algorithm 2 to collect data
6:
for $s_{i} \in S$ do
7:
$Δ$ $l u x_{i}$ = $g e t I n t e n s i t y D i f f (s_{i})$
8:
if $Δ l u x_{m a x} < Δ l u x_{i}$ then
9:
$Δ l u x_{m a x} = Δ l u x_{i}$
10:
$s_{m a x} = s_{i}$
11:
end if
12:
end for
13:
for $a_{j} \in A$ do
14:
$h_{j}$ = $c a l c u l a t e A c u t a t o r D i r e c t i o n (a_{j}, s_{m a x})$
15:
end for
16:
$c o m m a n d T o A c t u a t o r s (H)$ ▹ Run Algorithm 3 to control actuators
17:
end while