This paper deals with distributed algorithms for mobile wireless sensor networks, used for monitoring the con guration of a dynamic group. We rst present a simple distributed static group consensus algorithm allowing every node in the network to obtain the knowledge of its connected components. We give valid theoretical bounds on the convergence time for this static algorithm. Then we propose two major extensions: the rst one consists in using more precision in the proximity information of nodes sharing similar characteristics, the second extension is designed for the case of mobile networks using a periodical reevaluation of the group detection. We validate these algorithms by implementing them in an original and challenging application scenario, in the context of a bicycle race.
