Sensors (Basel, Switzerland)
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Introducing leadership and mobility is known to benefit wireless sensor networks in terms of consensus-building and collective decision-making. However, these benefits are neither analytically proven nor quantified in the literature. This paper fills this gap by investigating the mobility dynamics in wireless sensor networks analytically. ⋯ It presents a strategy for choosing leaders from among the agents participating in the consensus-building process using the well-known graph-coloring solution. Then, it shows how the leader-follower model helps improve the convergence rate of consensus-building. Finally, it shows that the convergence rate of the consensus-building process can be further improved by making the leaders mobile.