Distributed Connectivity Restoration Algorithm with Optimal Repair Path in Wireless Sensor and Actor Networks

Figure 7

Cascaded relocation when the backup actor is critical shown in (a) A4 detect failure of its primary A6; (b) A4 replaces A6; (c) A2 moves to the place of A4; (d) critical nodes update their gradient and reselect the backup.

(a)

(b)

(c)

(d)