The model can have several groups of nodes. Each group as a whole moves according to the model, and each node within a group also moves according to the model, but following the trajectory of the group. Each group's motion is described by moving a certain radius with a certain angle. A set of Tau and sigma variables are specified for the radius and a second set is specified for the angle of the group. In general, the smaller the Tau, the more random the movement.
Sigma is used to control what the spread is of the speed or the angle movement is.
Each node's movement is specified just like a group's. Specifically, all nodes within a group are given a set of Tau and Sigma variables for the radius and angle. Nodes in different groups may have different sets of variables. Currently, free space propagation is assumed, that is, there exists a link between two nodes if and only if their euclidean distance is below a threshold. Periodic updates are also sent.