Multirobot Federating Method for Disjoint Segments in Wireless Sensor Network Based on Optimal Anchor Point and Local Priority

Algorithm 1

Island Center Selection Algorithm.

Input  island selection ,number of node groups k

Output  island center collection

 1   μ ← null; C ← null; t =0;

 2   μ ← pick k nodes from;

 3   while ture do

 4    for i =1 to m

 5     for j =1 to k

 6     dist_ed ← calculate the similarity between node

    And centroid;

 7      end for

 8     end for

 9    for i =1 to m

 10     find the with the smallest similarity set of dist_ed,

      And divide the into the corresponding group ;

 11    end for

 12    C_λ ← C_λ∪{η_i};

 13    ←recalculate the centroids of all nodes in C_λ;

 14    if==

 15     t++;

 16     if t==10

 17      break;

 18     end if

 19    end if

 20    end while

 21    according to the calculation of C_λ, the island center set

       is obtained;