“…To recover from or reduce the effects of dynamicallyformed coverage holes of different scales [2], [3], [4], a wide spectrum of topology control schemes has been devised [15], [11]. By providing a degree of control over the coverage and connectivity of networks, topology control schemes using distributed node relocation algorithms are able to maintain or recover network integrity in networks subject to dynamic topological perturbation [6], [7], [16], [9], [4], [10], [17]. Node relocation algorithms can be broadly classified into a number of major categories [4], including Force-based algorithms in which nodes mutually exert virtual repulsive and attractive forces in the radial [10] or angular [16] directions, voronoibased approaches in which movement is based on Voronoi cells formed by the nodes [7], and flip-based and cell-based relocation algorithms, in which nodes are flipped to adjacent cells in a manner depending on cell resolution, node density and decisions of cells' elected head nodes [9].…”