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The sonar images are produced from this 3D environment, taking into account a particular trajectory of the sensor (mounted on a vessel or an autonomous platforms).
Lindhe et al. in [31] proposed a strategy that improves the throughput by modifying the trajectory of the sensor nodes so that they spend more time at points with high signal strength.
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The numerical results confirm that the 3D FMM model accurately reproduces the statistical features of the ocean current, wind and surface wave effects on the 3D trajectories of the sensor nodes.
We find that when we try to add POI A to the trajectory of mobile sensor M 1, the 2MDkT in the current mobile sensor network is the smallest compared with adding other POIs.
Δ L i j is the 2MDkT, that if the POI i is added to the the trajectory of mobile sensor j.
The trajectory of the vessel and the sensor positions are estimated simultaneously using an Extended Kalman Filter (EKF).
Find the minimal element Δ L i j in Δ L cur and add the POI i to the trajectory of mobile sensor j.
Firstly, as M 2 H ¯ is the smallest edge connected to the mobile sensors, we add POI H to the trajectory of mobile sensor M 2 as shown in Figure 2b.
Then add t to the trajectory of mobile sensor s.
Thus, we add POI A to the trajectory of mobile sensor M 1 as shown in Figure 2c.
Repeat steps (3) to (4) until the trajectories in C contain all vertexes of V. Check the trajectory of each mobile sensor, if the trajectory intersects with other trajectories and the distance from start position to the point of intersection is the same, there will be collision between mobile sensors.
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