The increased maturity level of technological achievements towards the realization of the Internet of Things (IoT) vision allowed sophisticated solutions to emerge, offering reliable monitoring in highly dynamic environments that lack well-defined and well-designed infrastructures. In this paper, we use a bio-inspired IoT architecture, which allows flexible creation and discovery of sensor-based services offering self-organization and self-optimization properties to the dynamic network, in order to make the required monitoring information available. The main contribution of the paper is the introduction of a new algorithm for following mobile monitored targets/individuals in the context of an IoT system, especially a dynamic one as the aforementioned. The devised technique, called Hot–Cold, is able to ensure proximity maintenance by the tracking robotic device solely based on the strength of the RF signal broadcasted by the target to communicate its sensors’ data. Complete geometrical, numerical, simulation, and convergence analyses of the proposed technique are thoroughly presented, along with a detailed simulation-based evaluation that reveals the higher following accuracy of Hot–Cold compared to the popular concept of trilateration-based tracking. Finally, a prototype of the full architecture was implemented not only to demonstrate the applicability of the presented approach for monitoring in dynamic environments, but also the operability of the introduced tracking technique.

实现物联网（IoT）愿景的技术成就的成熟度不断提高，因此出现了复杂的解决方案，可在缺乏明确定义和精心设计的基础架构的高度动态环境中提供可靠的监控。在本文中，我们使用受生物启发的物联网架构，该架构允许灵活地创建和发现基于传感器的服务，从而为动态网络提供自组织和自优化属性，以便提供所需的监视信息。本文的主要贡献是引入了一种新算法，用于在物联网系统的环境中跟踪移动受监控目标/个人，尤其是如上所述的动态算法。这种被称为“热冷”的技术 能够仅根据目标为传达其传感器数据而广播的RF信号的强度，来确保跟踪机器人设备的接近维护。完整介绍了所提出技术的完整几何，数值，模拟和收敛性分析，以及基于仿真的详细评估，与基于三边测量的流行概念相比，该方法揭示了Hot-Cold的跟踪精度更高。最后，实现了完整体系结构的原型，不仅演示了所提出的方法在动态环境中进行监视的适用性，而且还演示了引入的跟踪技术的可操作性。全面介绍了所提出技术的仿真和收敛性分析，以及基于仿真的详细评估，与基于三边测量的流行概念相比，该仿真揭示了Hot-Cold的跟踪精度更高。最后，实现了完整体系结构的原型，不仅演示了所提出的方法在动态环境中进行监视的适用性，而且还演示了引入的跟踪技术的可操作性。全面介绍了所提出技术的仿真和收敛性分析，以及基于仿真的详细评估，与基于三边测量的流行概念相比，该仿真揭示了Hot-Cold的跟踪精度更高。最后，实现了完整体系结构的原型，不仅演示了所提出的方法在动态环境中进行监视的适用性，而且还演示了引入的跟踪技术的可操作性。