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isprsarchives XL 2 W3 103 2014

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Figure 2. Coverage hole (gray regions) in a WSN overlaid on the Voronoi diagram of the sensors
Figure 5. Simple and extended VOR algorithms: (a) simple VOR, in which the sensor moves without considering the the sensor are covered, that sensor will not move; (c) Movement of the sensor toward the furthest vertex with respect to the distance between the sensor and the obstacle; (d) Movement toward the second furthest vertex, if no movement is possible toward the furthest vertex due to obstacle; (b) If all Voronoi vertices (except v1) correspond to obstacles
Figure 8. Position of the sensors for both cases in different steps (a) simple VOR algorithm; (b) extended VOR algorithm
Figure 11. Coverage of the sensors (red regions) for Position of the sensors after 50 iterations of the extended VOR algorithm

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