Taking into account Eq. (15), one determines the integration constants C/(/= l',...,4) as +a(b 2 + k 2)s\-(4co 2-k 2-b 2)s l s 2 C,=-2uk l s l s 3-2uas 2 s 3 + a(b 2 + k 2)s% + (4oj 2-k 2-= l s l s 3-(4co 2-k 2 k l b(a 2 + b 2)s 3 With the notation 7,. = «/(w 1)* + 0/(w 2)*. Eq. (15) becomes (17) (18) with the unknowns e°T, e~a 7 , sin£r, and cosfrr. Performing the calculations, we obtain the analytical expression of the pursuit time on the optimal trajectory 03 = (g 2 + 6 2) [Z? 2 (4co 2-k 2-b 2 + 1) + 2a 2 (4oj 2-A: 2 + ^? 2)] 2a)a 2^2 [4co 2 (A: 2-a 2) + 2a 2 (b 2 + A: 2 : 2-a 2) + 2a 2 (b 2 + £ 2) + Z? 4-k\ ]

Sensing the ambient temperature is the key to many applications, such as smart homes/buildings/ communities/cities [1, 2]. However, the ability to sense the ambient temperature pervasively is still deficient, causing various problems in people's daily lives, including but not limited to:

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