Two-dimensional swarm formation in time-invariant external potential: Modeling, analysis, and control

Cluster formation has been observed in many organisms in nature. It has the desirable properties for designing energy efficient protocols for Wireless Sensor Networks (WSNs). In this paper, we present a new approach for energy efficient WSN protocols that investigates how the cluster formation of sensors responds to the external time-invariant energy potential. In this approach, the necessity for data transmission to the Base Station is eliminated, thereby conserving energy for WSNs. We define swarm formation topology and estimate the curvature of an external potential manifold by analyzing the change of the swarm formation in time. We also introduce a dynamic formation control algorithm for maintaining defined swarm formation topology in the external potential.