In modern observation systems, sensors can be located on various platforms which can be highly dynamic in motion. Each sensor node has a sensing capability, as well as limited energy supply, computing power, memory and communication ability. Endowing nodes in a sensor network with mobility drastically expands the spectrum of the network’s capabilities. Moreover, assuming that each mobile node possesses a certain amount of decision making autonomy gives rise to a dynamic system with a considerable amount of flexibility, depending on the extent to which the nodes can cooperate in order to perform a mission. This flexibility, for example, allows us to handle a large number of data source targets with a much smaller number of nodes that can move comparing to the stationary or scanning sensing strategies. What is more, technological advances in communication systems and the growing ease in making small, low power and inexpensive mobile systems now make it feasible to deploy a group of networked vehicles in a number of environments, see [35, 37, 42, 163, 176, 255].
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