In-network path planning for distributed sensor network navigation in dynamic environments

We propose a set of distributed algorithms for in-network path planning that enables a distributed sensor network navigation service in dynamic environments. Different from existing algorithms that use frequent or periodic flooding, our algorithms exploit geographic information of sensors to construct and maintain navigation links. Based on a partial reversal method of directed acyclic graphs, our algorithms ensure that each source sensor has at least one safe navigation path to one of the multiple destination sensors.