“…In [8], [9], [12], [13], [17], [18], [20], a set of mobile collectors are used to move along pre-planned paths to collect data from static sensors. The collection process can be single-hop [9], [13], [20] or multi-hop [8], [12], [17], [18]. While such approaches can balance the energy consumption of sensors, moving these collectors may cause long delays, thus harming real-time applications.…”