This paper is concerned with the routing protocol design for large-scale wireless sensor and actor networks (WSANs).The actor-sensor-actor communication (ASAC) strategy is first proposed to guarantee the reliability of persistent actor-actor communication.To keep network connectivity and prolong network lifetime,we propose a dynamic gradient-based routing protocol (DGR) to balance the energy consumption of the network.With the different communication ranges of sensors and actors,the DGR protocol uses a data load expansion strategy to significantly prolong the network lifetime.The balance coefficient and the routing re-establishment threshold are also introduced to make the tradeoff between network lifetime and routing efficiency.Simulation results show the effectiveness of the proposed DGR protocol for unbalanced and persistent data transmission.
This paper deals with the consensus problem for heterogeneous multi-agent systems. Different from most existing consensus protocols, we consider the consensus seeking of two types of agents, namely, active agents and passive agents. The objective is to directly control the active agents such that the states of all the agents would achieve consensus. In order to obtain a computational approach, we subtly introduce an appropriate Markov chain to cast the heterogeneous systems into a unified framework. Such a framework is helpful for tackling the constraints from passive agents. Furthermore, a sufficient and necessary condition is established to guarantee the consensus in heterogeneous multi-agent systems. Finally, simulation results are provided to verify the theoretical analysis and the effectiveness of the proposed protocol.
