Motion coordination using virtual nodes

We describe how a virtual node abstraction layer can be used to coordinate the motion of real mobile nodes on a 2D plane. In particular, we consider how nodes in a mobile ad hoc network can arrange themselves along a predetermined curve in the plane, and can maintain themselves in such a configuration in the presence of changes in the underlying mobile ad hoc network, specifically, when nodes may join or leave the system or may fail. Our strategy is to allow the mobile nodes to implement a virtual layer consisting of mobile client nodes, stationary Virtual Nodes (VNs) for predetermined zones in the plane, and local broadcast communication. The VNs coordinate among themselves to distribute the client nodes between zones based on the length of the curve through those zones, while each VN directs its zone's local client nodes to move themselves to equally spaced locations on the local portion of the target curve.