Robotic Wireless Sensor Networks

In this chapter, we present a literature survey of an emerging, cutting-edge, and multi-disciplinary field of research at the intersection of Robotics and Wireless Sensor Networks (WSN) which we refer to as Robotic Wireless Sensor Networks (RWSN). We define a RWSN as an autonomous networked multi-robot system that aims to achieve certain sensing goals while meeting and maintaining certain communication performance requirements, through cooperative control, learning and adaptation. While both of the component areas, i.e., Robotics and WSN, are very well-known and well-explored, there exist a whole set of new opportunities and research directions at the intersection of these two fields which are relatively or even completely unexplored. One such example would be the use of a set of robotic routers to set up a temporary communication path between a sender and a receiver that uses the controlled mobility to the advantage of packet routing. We find that there exist only a limited number of articles to be directly categorized as RWSN related works whereas there exist a range of articles in the robotics and the WSN literature that are also relevant to this new field of research. To connect the dots, we first identify the core problems and research trends related to RWSN such as connectivity, localization, routing, and robust flow of information. Next, we classify the existing research on RWSN as well as the relevant state-of-the-arts from robotics and WSN community according to the problems and trends identified in the first step. Lastly, we analyze what is missing in the existing literature, and identify topics that require more research attention in the future

Adaptive sampling in context-aware systems: a machine learning approach

As computing systems become ever more pervasive, there is an increasing need for them to understand and adapt to the state of the environment around them: that is, their context. This understanding comes with considerable reliance on a range of sensors. However, portable devices are also very constrained in terms of power, and hence the amount of sensing must be minimised. In this paper, we present a machine learning architecture for context awareness which is designed to balance the sampling rates (and hence energy consumption) of individual sensors with the significance of the input from that sensor. This significance is based on predictions of the likely next context. The architecture is implemented using a selected range of user contexts from a collected data set. Simulation results show reliable context identification results. The proposed architecture is shown to significantly reduce the energy requirements of the sensors with minimal loss of accuracy in context identification

Wireless Power Transfer and Data Collection in Wireless Sensor Networks

In a rechargeable wireless sensor network, the data packets are generated by sensor nodes at a specific data rate, and transmitted to a base station. Moreover, the base station transfers power to the nodes by using Wireless Power Transfer (WPT) to extend their battery life. However, inadequately scheduling WPT and data collection causes some of the nodes to drain their battery and have their data buffer overflow, while the other nodes waste their harvested energy, which is more than they need to transmit their packets. In this paper, we investigate a novel optimal scheduling strategy, called EHMDP, aiming to minimize data packet loss from a network of sensor nodes in terms of the nodes' energy consumption and data queue state information. The scheduling problem is first formulated by a centralized MDP model, assuming that the complete states of each node are well known by the base station. This presents the upper bound of the data that can be collected in a rechargeable wireless sensor network. Next, we relax the assumption of the availability of full state information so that the data transmission and WPT can be semi-decentralized. The simulation results show that, in terms of network throughput and packet loss rate, the proposed algorithm significantly improves the network performance.Comment: 30 pages, 8 figures, accepted to IEEE Transactions on Vehicular Technolog

Markov Decision Processes with Applications in Wireless Sensor Networks: A Survey

Wireless sensor networks (WSNs) consist of autonomous and resource-limited devices. The devices cooperate to monitor one or more physical phenomena within an area of interest. WSNs operate as stochastic systems because of randomness in the monitored environments. For long service time and low maintenance cost, WSNs require adaptive and robust methods to address data exchange, topology formulation, resource and power optimization, sensing coverage and object detection, and security challenges. In these problems, sensor nodes are to make optimized decisions from a set of accessible strategies to achieve design goals. This survey reviews numerous applications of the Markov decision process (MDP) framework, a powerful decision-making tool to develop adaptive algorithms and protocols for WSNs. Furthermore, various solution methods are discussed and compared to serve as a guide for using MDPs in WSNs

Design and analysis of a beacon-less routing protocol for large volume content dissemination in vehicular ad hoc networks

Largevolumecontentdisseminationispursuedbythegrowingnumberofhighquality applications for Vehicular Ad hoc NETworks(VANETs), e.g., the live road surveillance service and the video-based overtaking assistant service. For the highly dynamical vehicular network topology, beacon-less routing protocols have been proven to be efficient in achieving a balance between the system performance and the control overhead. However, to the authors’ best knowledge, the routing design for large volume content has not been well considered in the previous work, which will introduce new challenges, e.g., the enhanced connectivity requirement for a radio link. In this paper, a link Lifetime-aware Beacon-less Routing Protocol (LBRP) is designed for large volume content delivery in VANETs. Each vehicle makes the forwarding decision based on the message header information and its current state, including the speed and position information. A semi-Markov process analytical model is proposed to evaluate the expected delay in constructing one routing path for LBRP. Simulations show that the proposed LBRP scheme outperforms the traditional dissemination protocols in providing a low end-to-end delay. The analytical model is shown to exhibit a good match on the delay estimation with Monte Carlo simulations, as well