Clustering formation has been observed in many organisms in Nature. It has the desirable properties for designing energy efficient protocols for Wireless Senor Networks (WSNs). In this paper, we present a new approach for energy efficient WSNs protocol which investigate how cluster formation of sensors response to external time-invariant energy potential. In this approach, the necessity of data transmission to Base Station is eliminated, thereby conserving energy for WSNs. We define swarm formation topology, and estimate the curvature of 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 external potential.

中文翻译：

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时不变外势中二维群的形成：建模、分析和控制

在自然界中的许多生物体中已经观察到聚类形成。它具有为无线传感器网络 (WSN) 设计节能协议的理想特性。在本文中，我们提出了一种节能 WSNs 协议的新方法，该方法研究传感器的集群形成如何响应外部时不变能量势。在这种方法中，消除了向基站传输数据的必要性，从而为 WSN 节省了能源。我们定义了群体形成拓扑，并通过分析群体形成的时间变化来估计外部潜在流形的曲率。我们还介绍了一种动态编队控制算法，用于在外部电位中保持定义的群编队拓扑。