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Dynamic Multiple Swarming for Mobile Sensing Cluster based on Swarm Intelligence

In recent years, the Internet of Things(IoT) is expected to achieve an advanced information society based on real world things. For such an achievement, the Wireless Sensor Networks(WSNs) are an essential technology. They are configured as precondition under which the location of the sensing event and the number of the sensing events are known. On the other hand, there are many situations that the locations and the number of events are unknown in real world. In the situation, the mobile sensing with multiple autonomous mobile devices, such as robot, is required to search for and actuate many events in a limited time. Accordingly, we previously proposed the Mobile Sensing Cluster(MSC), which applies swarm intelligence to autonomous mobile devices to dynamically forms multiple swarms that can be applied to any situation and quickly search for and actuate many events. In this paper, we consider and describe optimizing mechanism of dynamic multiple swarming in MSC for the purpose that searching and actuating a lot of events in a limited time.