Adoption of vehicular ad hoc networking protocols by networked robots

This paper focuses on the utilization of wireless networking in the robotics domain. Many researchers have already equipped their robots with wireless communication capabilities, stimulated by the observation that multi-robot systems tend to have several advantages over their single-robot counterparts. Typically, this integration of wireless communication is tackled in a quite pragmatic manner, only a few authors presented novel Robotic Ad Hoc Network (RANET) protocols that were designed specifically with robotic use cases in mind. This is in sharp contrast with the domain of vehicular ad hoc networks (VANET). This observation is the starting point of this paper. If the results of previous efforts focusing on VANET protocols could be reused in the RANET domain, this could lead to rapid progress in the field of networked robots. To investigate this possibility, this paper provides a thorough overview of the related work in the domain of robotic and vehicular ad hoc networks. Based on this information, an exhaustive list of requirements is defined for both types. It is concluded that the most significant difference lies in the fact that VANET protocols are oriented towards low throughput messaging, while RANET protocols have to support high throughput media streaming as well. Although not always with equal importance, all other defined requirements are valid for both protocols. This leads to the conclusion that cross-fertilization between them is an appealing approach for future RANET research. To support such developments, this paper concludes with the definition of an appropriate working plan

Enhancing the VANET Network Layer

The aim of this thesis is to examine existing VANET network layer functionality and to propose enhancements to the VANET network layer to facilitate vehicular (V2X) communication. This thesis proposes three enhancements to the VANET network layer which address many of the issues with V2X communication, these enhancements are: a geographic overlay allowing vehicles to localize themselves; an IPv6 addressing strategy which embeds positional information within an IP address allowing for location based routing; and finally a novel position based routing protocol which has two primary advantages over existing protocols, firstly removing unnecessary overhead information and control communication, and secondly support for multiple types of V2X communication models. The simulation results show that the proposed enhancements are well suited in low and medium vehicular density environments. Based on the observed behaviors the author recommends further modification and study of position based routing protocols

Stable Infrastructure-based Routing for Intelligent Transportation Systems

Intelligent Transportation Systems (ITSs) have been instrumental in reshaping transportation towards safer roads, seamless logistics, and digital business-oriented services under the umbrella of smart city platforms. Undoubtedly, ITS applications will demand stable routing protocols that not only focus on Inter-Vehicle Communications but also on providing a fast, reliable and secure interface to the infrastructure. In this paper, we propose a novel stable infrastructure- based routing protocol for urban VANETs. It enables vehicles proactively to maintain fresh routes towards Road-Side Units (RSUs) while reactively discovering routes to nearby vehicles. It builds routes from highly stable connected intersections using a selection policy which uses a new intersection stability metric. Simulation experiments performed with accurate mobility and propagation models have confirmed the efficiency of the new protocol and its adaptability to continuously changing network status in the urban environment

TDMP-Reliable Target Driven and Mobility Prediction based Routing Protocol in Complex VANET

Vehicle-to-everything (V2X) communication in the vehicular ad hoc network (VANET), an infrastructure-free mechanism, has emerged as a crucial component in the advanced Intelligent Transport System (ITS) for special information transmission and inter-vehicular communications. One of the main research challenges in VANET is the design and implementation of network routing protocols which manage to trigger V2X communication with the reliable end-to-end connectivity and efficient packet transmission. The organically changing nature of road transport vehicles poses a significant threat to VANET with respect to the accuracy and reliability of packet delivery. Therefore, a position-based routing protocol tends to be the predominant method in VANET as they overcome rapid changes in vehicle movements effectively. However, existing routing protocols have some limitations such as (i) inaccurate in high dynamic network topology, (ii) defective link-state estimation (iii) poor movement prediction in heterogeneous road layouts. In this paper, a target-driven and mobility prediction (TDMP) based routing protocol is therefore developed for high-speed mobility and dynamic topology of vehicles, fluctuant traffic flow and diverse road layouts in VANET. The primary idea in TDMP is that the destination target of a driver is included in the mobility prediction to assist the implementation of the routing protocol. Compared to existing geographic routing protocols which mainly greedily forward the packet to the next-hop based on its current position and partial road layout, TDMP is developed to enhance the packet transmission with the consideration of the estimation of inter-vehicles link status, and the prediction of vehicle positions dynamically in fluctuant mobility and global road layout.Comment: 35 pages,16 Figure

Coherent, automatic address resolution for vehicular ad hoc networks

Published in: Int. J. of Ad Hoc and Ubiquitous Computing, 2017 Vol.25, No.3, pp.163 - 179. DOI: 10.1504/IJAHUC.2017.10001935The interest in vehicular communications has increased notably. In this paper, the use of the address resolution (AR) procedures is studied for vehicular ad hoc networks (VANETs). We analyse the poor performance of AR transactions in such networks and we present a new proposal called coherent, automatic address resolution (CAAR). Our approach inhibits the use of AR transactions and instead increases the usefulness of routing signalling to automatically match the IP and MAC addresses. Through extensive simulations in realistic VANET scenarios using the Estinet simulator, we compare our proposal CAAR to classical AR and to another of our proposals that enhances AR for mobile wireless networks, called AR+. In addition, we present a performance evaluation of the behaviour of CAAR, AR and AR+ with unicast traffic of a reporting service for VANETs. Results show that CAAR outperforms the other two solutions in terms of packet losses and furthermore, it does not introduce additional overhead.Postprint (published version

Detecting Non-Line of Sight to Prevent Accidents in Vehicular Ad hoc Networks

There are still many challenges in the field of VANETs that encouraged researchers to conduct further investigation in this field to meet these challenges. The issue pertaining to routing protocols such as delivering the warning messages to the vehicles facing Non-Line of Sight (NLOS) situations without causing the storm problem and channel contention, is regarded as a serious dilemma which is required to be tackled in VANET, especially in congested environments. This requires the designing of an efficient mechanism of routing protocol that can broadcast the warning messages from the emergency vehicles to the vehicles under NLOS, reducing the overhead and increasing the packet delivery ratio with a reduced time delay and channel utilisation. The main aim of this work is to develop the novel routing protocol for a high-density environment in VANET through utilisation of its high mobility features, aid of the sensors such as Global Positioning System (GPS) and Navigation System (NS). In this work, the cooperative approach has been used to develop the routing protocol called the Co-operative Volunteer Protocol (CVP), which uses volunteer vehicles to disseminate the warning message from the source to the target vehicle under NLOS issue; this also increases the packet delivery ratio, detection of NLOS and resolution of NLOS by delivering the warning message successfully to the vehicle under NLOS, thereby causing a direct impact on the reduction of collisions between vehicles in normal mode and emergency mode on the road near intersections or on highways. The cooperative approach adopted for warning message dissemination reduced the rebroadcast rate of messages, thereby decreasing significantly the storm issue and the channel contention. A novel architecture has been developed by utilising the concept of a Context-Aware System (CAS), which clarifies the OBU components and their interaction with each other in order to collect data and take the decisions based on the sensed circumstances. The proposed architecture has been divided into three main phases: sensing, processing and acting. The results obtained from the validation of the proposed CVP protocol using the simulator EstiNet under specific conditions and parameters showed that performance of the proposed protocol is better than that of the GRANT protocol with regard to several metrics such as packet delivery ratio, neighbourhood awareness, channel utilisation, overhead and latency. It is also successfully shown that the proposed CVP could detect the NLOS situation and solves it effectively and efficiently for both the intersection scenario in urban areas and the highway scenario