“…qv i is the constant speed of the i th sensor and is set to 0.5m/s. The initial position of the sensors are set to (18,27), (31, 43), (62, 41), (86, 33), (15,45), (13,98), (38, 105), (60, 99), (89, 93), (110, 106)], and the unit is meter. The communication ranges and the sensing ranges of the sensors are all set to r c = 45m and r s = 60m respectively.…”