This paper presents control and coordination algorithms for groups of vehicles. The focus is on autonomous vehicle networks performing distributed sensing tasks where each vehicle plays the role of a mobile tunable sensor. The paper proposes gradient descent algorithms for a class of utility

Topology control in a sensor network balances load on sensor nodes and increases network scalability and lifetime. Clustering sensor nodes is an effective topology control approach. In this paper, we propose a novel distributed clustering approach for long-lived ad hoc sensor networks. Our

in networked dynamic systems and diverse applications including synchronization of coupled oscillators, flocking, formation control, fast consensus in small-world networks, Markov processes and gossip-based algorithms, load balancing in networks, rendezvous in space, distributed sensor fusion in sensor

Advances in microsensor and radio technology will enable small but smart sensors to be deployed for a wide range of environmental monitoring applications. The low per-node cost will allow these wireless networks of sensors and actuators to be densely distributed. The nodes in these dense networks

Wireless ad-hoc sensor networks have recently emerged as a premier research topic. They have great longterm economic potential, ability to transform our lives, and pose many new system-building challenges. Sensor networks also pose a number of new conceptual and optimization problems. Some

To support network programming, we present Deluge, a reliable data dissemination protocol for propagating large data objects from one or more source nodes to many other nodes over a multihop, wireless sensor network. Deluge builds from prior work in density-aware, epidemic maintenance protocols

a two-dimensional Cartesian histogram gridas a world model. This world model is updated continuously with range data sampled by on-board range sensors. The VFH method subsequently employs a two-stage data-reduction process in order to compute the desired control commands for the vehicle

We present Trickle, an algorithm for propagating and maintaining code updates in wireless sensor networks. Borrowing techniques from the epidemic/gossip, scalable multicast, and wireless broadcast literature, Trickle uses a "polite gossip" policy, where motes periodically broadcast a code

with minimum energy expenditure. It includes a congestion control component that serves the dual purpose of achieving reliability and conserving energy. Importantly, the algorithms of ESRT mainly run on the sink, with minimal functionality required at resource constrained sensor nodes. ESRT protocol operation

For many sensor network applications such as military surveillance, it is necessary to provide full sensing coverage to a security-sensitive area while at the same time minimize energy consumption and extend system life by leveraging the redundant deployment of sensor nodes. It is also preferable