836 research outputs found
A Survey of Asynchronous Programming Using Coroutines in the Internet of Things and Embedded Systems
Many Internet of Things and embedded projects are event-driven, and therefore
require asynchronous and concurrent programming. Current proposals for C++20
suggest that coroutines will have native language support. It is timely to
survey the current use of coroutines in embedded systems development. This
paper investigates existing research which uses or describes coroutines on
resource-constrained platforms. The existing research is analysed with regard
to: software platform, hardware platform and capacity; use cases and intended
benefits; and the application programming interface design used for coroutines.
A systematic mapping study was performed, to select studies published between
2007 and 2018 which contained original research into the application of
coroutines on resource-constrained platforms. An initial set of 566 candidate
papers were reduced to only 35 after filters were applied, revealing the
following taxonomy. The C & C++ programming languages were used by 22 studies
out of 35. As regards hardware, 16 studies used 8- or 16-bit processors while
13 used 32-bit processors. The four most common use cases were concurrency (17
papers), network communication (15), sensor readings (9) and data flow (7). The
leading intended benefits were code style and simplicity (12 papers),
scheduling (9) and efficiency (8). A wide variety of techniques have been used
to implement coroutines, including native macros, additional tool chain steps,
new language features and non-portable assembly language. We conclude that
there is widespread demand for coroutines on resource-constrained devices. Our
findings suggest that there is significant demand for a formalised, stable,
well-supported implementation of coroutines in C++, designed with consideration
of the special needs of resource-constrained devices, and further that such an
implementation would bring benefits specific to such devices.Comment: 22 pages, 8 figures, to be published in ACM Transactions on Embedded
Computing Systems (TECS
Tracking a non-cooperative target using a Doppler radar wireless sensor network
Tracking or target localization is used in a wide range of important tasks from knowing when your flight will arrive to ensuring your mail is received on time. Tracking provides the location of resources enabling solutions to complex logistical problems. Wireless Sensor Networks (WSN) create new opportunities when applied to tracking, such as more flexible deployment and real-time information. When radar is used as the sensing element in a tracking WSN better results can be obtained; because radar has a comparatively larger range both in distance and angle to other sensors commonly used in WSNs. This allows for less nodes deployed covering larger areas, saving money. In this report I implement a tracking WSN platform similar to what was developed by Lim, Wang, and Terzis. This consists of several sensor nodes each with a radar, a sink node connected to a host PC, and a Matlabยฉ program to fuse sensor data. I have re-implemented their experiment with my WSN platform for tracking a non-cooperative target to verify their results and also run simulations to compare. The results of these tests are discussed and some future improvements are proposed
Distributed Bio-inspired Humanoid Posture Control
This paper presents an innovative distributed bio-inspired posture control
strategy for a humanoid, employing a balance control system DEC (Disturbance
Estimation and Compensation). Its inherently modular structure could
potentially lead to conflicts among modules, as already shown in literature. A
distributed control strategy is presented here, whose underlying idea is to let
only one module at a time perform balancing, whilst the other joints are
controlled to be at a fixed position. Modules agree, in a distributed fashion,
on which module to enable, by iterating a max-consensus protocol. Simulations
performed with a triple inverted pendulum model show that this approach limits
the conflicts among modules while achieving the desired posture and allows for
saving energy while performing the task. This comes at the cost of a higher
rise time.Comment: 2019 41st Annual International Conference of the IEEE Engineering in
Medicine & Biology Society (EMBC
Wireless Sensor Network Virtualization: A Survey
Wireless Sensor Networks (WSNs) are the key components of the emerging
Internet-of-Things (IoT) paradigm. They are now ubiquitous and used in a
plurality of application domains. WSNs are still domain specific and usually
deployed to support a specific application. However, as WSN nodes are becoming
more and more powerful, it is getting more and more pertinent to research how
multiple applications could share a very same WSN infrastructure.
Virtualization is a technology that can potentially enable this sharing. This
paper is a survey on WSN virtualization. It provides a comprehensive review of
the state-of-the-art and an in-depth discussion of the research issues. We
introduce the basics of WSN virtualization and motivate its pertinence with
carefully selected scenarios. Existing works are presented in detail and
critically evaluated using a set of requirements derived from the scenarios.
The pertinent research projects are also reviewed. Several research issues are
also discussed with hints on how they could be tackled.Comment: Accepted for publication on 3rd March 2015 in forthcoming issue of
IEEE Communication Surveys and Tutorials. This version has NOT been
proof-read and may have some some inconsistencies. Please refer to final
version published in IEEE Xplor
Asynchronous displays for multi-UV search tasks
Synchronous video has long been the preferred mode for controlling remote robots with other modes such as asynchronous control only used when unavoidable as in the case of interplanetary robotics. We identify two basic problems for controlling multiple robots using synchronous displays: operator overload and information fusion. Synchronous displays from multiple robots can easily overwhelm an operator who must search video for targets. If targets are plentiful, the operator will likely miss targets that enter and leave unattended views while dealing with others that were noticed. The related fusion problem arises because robots' multiple fields of view may overlap forcing the operator to reconcile different views from different perspectives and form an awareness of the environment by "piecing them together". We have conducted a series of experiments investigating the suitability of asynchronous displays for multi-UV search. Our first experiments involved static panoramas in which operators selected locations at which robots halted and panned their camera to capture a record of what could be seen from that location. A subsequent experiment investigated the hypothesis that the relative performance of the panoramic display would improve as the number of robots was increased causing greater overload and fusion problems. In a subsequent Image Queue system we used automated path planning and also automated the selection of imagery for presentation by choosing a greedy selection of non-overlapping views. A fourth set of experiments used the SUAVE display, an asynchronous variant of the picture-in-picture technique for video from multiple UAVs. The panoramic displays which addressed only the overload problem led to performance similar to synchronous video while the Image Queue and SUAVE displays which addressed fusion as well led to improved performance on a number of measures. In this paper we will review our experiences in designing and testing asynchronous displays and discuss challenges to their use including tracking dynamic targets. ยฉ 2012 by the American Institute of Aeronautics and Astronautics, Inc
ํ์ ๋ก๋ด์ ์ํ ์๋น์ค ๊ธฐ๋ฐ๊ณผ ๋ชจ๋ธ ๊ธฐ๋ฐ์ ์ํํธ์จ์ด ๊ฐ๋ฐ ๋ฐฉ๋ฒ๋ก
ํ์๋
ผ๋ฌธ(๋ฐ์ฌ)--์์ธ๋ํ๊ต ๋ํ์ :๊ณต๊ณผ๋ํ ์ ๊ธฐยท์ปดํจํฐ๊ณตํ๋ถ,2020. 2. ํ์ํ.๊ฐ๊น์ด ๋ฏธ๋์๋ ๋ค์ํ ๋ก๋ด์ด ๋ค์ํ ๋ถ์ผ์์ ํ๋์ ์๋ฌด๋ฅผ ํ๋ ฅํ์ฌ ์ํํ๋ ๋ชจ์ต์ ํํ ๋ณผ ์ ์๊ฒ ๋ ๊ฒ์ด๋ค. ๊ทธ๋ฌ๋ ์ค์ ๋ก ์ด๋ฌํ ๋ชจ์ต์ด ์คํ๋๊ธฐ์๋ ๋ ๊ฐ์ง์ ์ด๋ ค์์ด ์๋ค. ๋จผ์ ๋ก๋ด์ ์ด์ฉํ๊ธฐ ์ํ ์ํํธ์จ์ด๋ฅผ ๋ช
์ธํ๋ ๊ธฐ์กด ์ฐ๊ตฌ๋ค์ ๋๋ถ๋ถ ๊ฐ๋ฐ์๊ฐ ๋ก๋ด์ ํ๋์จ์ด์ ์ํํธ์จ์ด์ ๋ํ ์ง์์ ์๊ณ ์๋ ๊ฒ์ ๊ฐ์ ํ๊ณ ์๋ค. ๊ทธ๋์ ๋ก๋ด์ด๋ ์ปดํจํฐ์ ๋ํ ์ง์์ด ์๋ ์ฌ์ฉ์๋ค์ด ์ฌ๋ฌ ๋์ ๋ก๋ด์ด ํ๋ ฅํ๋ ์๋๋ฆฌ์ค๋ฅผ ์์ฑํ๊ธฐ๋ ์ฝ์ง ์๋ค. ๋ํ, ๋ก๋ด์ ์ํํธ์จ์ด๋ฅผ ๊ฐ๋ฐํ ๋ ๋ก๋ด์ ํ๋์จ์ด์ ํน์ฑ๊ณผ ๊ด๋ จ์ด ๊น์ด์, ๋ค์ํ ๋ก๋ด์ ์ํํธ์จ์ด๋ฅผ ๊ฐ๋ฐํ๋ ๊ฒ๋ ๊ฐ๋จํ์ง ์๋ค. ๋ณธ ๋
ผ๋ฌธ์์๋ ์์ ์์ค์ ๋ฏธ์
๋ช
์ธ์ ๋ก๋ด์ ํ์ ํ๋ก๊ทธ๋๋ฐ์ผ๋ก ๋๋์ด ์๋ก์ด ์ํํธ์จ์ด ๊ฐ๋ฐ ํ๋ ์์ํฌ๋ฅผ ์ ์ํ๋ค. ๋ํ, ๋ณธ ํ๋ ์์ํฌ๋ ํฌ๊ธฐ๊ฐ ์์ ๋ก๋ด๋ถํฐ ๊ณ์ฐ ๋ฅ๋ ฅ์ด ์ถฉ๋ถํ ๋ก๋ด๋ค์ด ์๋ก ๊ตฐ์ง์ ์ด๋ฃจ์ด ๋ฏธ์
์ ์ํํ ์ ์๋๋ก ์ง์ํ๋ค.
๋ณธ ์ฐ๊ตฌ์์๋ ๋ก๋ด์ ํ๋์จ์ด๋ ์ํํธ์จ์ด์ ๋ํ ์ง์์ด ๋ถ์กฑํ ์ฌ์ฉ์๋ ๋ก๋ด์ ๋์์ ์์ ์์ค์์ ๋ช
์ธํ ์ ์๋ ์คํฌ๋ฆฝํธ ์ธ์ด๋ฅผ ์ ์ํ๋ค. ์ ์ํ๋ ์ธ์ด๋ ๊ธฐ์กด์ ์คํฌ๋ฆฝํธ ์ธ์ด์์๋ ์ง์ํ์ง ์๋ ๋ค ๊ฐ์ง์ ๊ธฐ๋ฅ์ธ ํ์ ๊ตฌ์ฑ, ๊ฐ ํ์ ์๋น์ค ๊ธฐ๋ฐ ํ๋ก๊ทธ๋๋ฐ, ๋์ ์ผ๋ก ๋ชจ๋ ๋ณ๊ฒฝ, ๋ค์ค ์์
(๋ฉํฐ ํ์คํน)์ ์ง์ํ๋ค. ์ฐ์ ๋ก๋ด์ ํ์ผ๋ก ๊ทธ๋ฃน ์ง์ ์ ์๊ณ , ๋ก๋ด์ด ์ํํ ์ ์๋ ๊ธฐ๋ฅ์ ์๋น์ค ๋จ์๋ก ์ถ์ํํ์ฌ ์๋ก์ด ๋ณตํฉ ์๋น์ค๋ฅผ ๋ช
์ธํ ์ ์๋ค. ๋ํ ๋ก๋ด์ ๋ฉํฐ ํ์คํน์ ์ํด 'ํ๋' ์ด๋ผ๋ ๊ฐ๋
์ ๋์
ํ์๊ณ , ๋ณตํฉ ์๋น์ค ๋ด์์ ์ด๋ฒคํธ๋ฅผ ๋ฐ์์์ผ์ ๋์ ์ผ๋ก ๋ชจ๋๊ฐ ๋ณํํ ์ ์๋๋ก ํ์๋ค. ๋์๊ฐ ์ฌ๋ฌ ๋ก๋ด์ ํ๋ ฅ์ด ๋์ฑ ๊ฒฌ๊ณ ํ๊ณ , ์ ์ฐํ๊ณ , ํ์ฅ์ฑ์ ๋์ด๊ธฐ ์ํด, ๊ตฐ์ง ๋ก๋ด์ ์ด์ฉํ ๋ ๋ก๋ด์ด ์๋ฌด๋ฅผ ์ํํ๋ ๋์ค์ ๋ฌธ์ ๊ฐ ์๊ธธ ์ ์์ผ๋ฉฐ, ์ํฉ์ ๋ฐ๋ผ ๋ก๋ด์ ๋์ ์ผ๋ก ๋ค๋ฅธ ํ์๋ฅผ ์ํํ ์ ์๋ค๊ณ ๊ฐ์ ํ๋ค. ์ด๋ฅผ ์ํด ๋์ ์ผ๋ก๋ ํ์ ๊ตฌ์ฑํ ์ ์๊ณ , ์ฌ๋ฌ ๋์ ๋ก๋ด์ด ํ๋์ ์๋น์ค๋ฅผ ์ํํ๋ ๊ทธ๋ฃน ์๋น์ค๋ฅผ ์ง์ํ๊ณ , ์ผ๋ ๋ค ํต์ ๊ณผ ๊ฐ์ ์๋ก์ด ๊ธฐ๋ฅ์ ์คํฌ๋ฆฝํธ ์ธ์ด์ ๋ฐ์ํ์๋ค. ๋ฐ๋ผ์ ํ์ฅ๋ ์์ ์์ค์ ์คํฌ๋ฆฝํธ ์ธ์ด๋ ๋น์ ๋ฌธ๊ฐ๋ ๋ค์ํ ์ ํ์ ํ๋ ฅ ์๋ฌด๋ฅผ ์ฝ๊ฒ ๋ช
์ธํ ์ ์๋ค.
๋ก๋ด์ ํ์๋ฅผ ํ๋ก๊ทธ๋๋ฐํ๊ธฐ ์ํด ๋ค์ํ ์ํํธ์จ์ด ๊ฐ๋ฐ ํ๋ ์์ํฌ๊ฐ ์ฐ๊ตฌ๋๊ณ ์๋ค. ํนํ ์ฌ์ฌ์ฉ์ฑ๊ณผ ํ์ฅ์ฑ์ ์ค์ ์ผ๋ก ๋ ์ฐ๊ตฌ๋ค์ด ์ต๊ทผ ๋ง์ด ์ฌ์ฉ๋๊ณ ์์ง๋ง, ๋๋ถ๋ถ์ ์ด๋ค ์ฐ๊ตฌ๋ ๋ฆฌ๋
์ค ์ด์์ฒด์ ์ ๊ฐ์ด ๋ง์ ํ๋์จ์ด ์์์ ํ์๋ก ํ๋ ์ด์์ฒด์ ๋ฅผ ๊ฐ์ ํ๊ณ ์๋ค. ๋ํ, ํ๋ก๊ทธ๋จ์ ๋ถ์ ๋ฐ ์ฑ๋ฅ ์์ธก ๋ฑ์ ๊ณ ๋ คํ์ง ์๊ธฐ ๋๋ฌธ์, ์์ ์ ์ฝ์ด ์ฌํ ํฌ๊ธฐ๊ฐ ์์ ๋ก๋ด์ ์ํํธ์จ์ด๋ฅผ ๊ฐ๋ฐํ๊ธฐ์๋ ์ด๋ ต๋ค. ๊ทธ๋์ ๋ณธ ์ฐ๊ตฌ์์๋ ์๋ฒ ๋๋ ์ํํธ์จ์ด๋ฅผ ์ค๊ณํ ๋ ์ฐ์ด๋ ์ ํ์ ์ธ ๋ชจ๋ธ์ ์ด์ฉํ๋ค. ์ด ๋ชจ๋ธ์ ์ ์ ๋ถ์๊ณผ ์ฑ๋ฅ ์์ธก์ด ๊ฐ๋ฅํ์ง๋ง, ๋ก๋ด์ ํ์๋ฅผ ํํํ๊ธฐ์๋ ์ ์ฝ์ด ์๋ค. ๊ทธ๋์ ๋ณธ ๋
ผ๋ฌธ์์ ์ธ๋ถ์ ์ด๋ฒคํธ์ ์ํด ์ํ ์ค๊ฐ์ ํ์๋ฅผ ๋ณ๊ฒฝํ๋ ๋ก๋ด์ ์ํด ์ ํ ์ํ ๋จธ์ ๋ชจ๋ธ๊ณผ ๋ฐ์ดํฐ ํ๋ก์ฐ ๋ชจ๋ธ์ด ๊ฒฐํฉํ์ฌ ๋์ ํ์๋ฅผ ๋ช
์ธํ ์ ์๋ ํ์ฅ๋ ๋ชจ๋ธ์ ์ ์ฉํ๋ค. ๊ทธ๋ฆฌ๊ณ ๋ฅ๋ฌ๋๊ณผ ๊ฐ์ด ๊ณ์ฐ๋์ ๋ง์ด ํ์๋ก ํ๋ ์์ฉ์ ๋ถ์ํ๊ธฐ ์ํด, ๋ฃจํ ๊ตฌ์กฐ๋ฅผ ๋ช
์์ ์ผ๋ก ํํํ ์ ์๋ ๋ชจ๋ธ์ ์ ์ํ๋ค. ๋ง์ง๋ง์ผ๋ก ์ฌ๋ฌ ๋ก๋ด์ ํ์
์ด์ฉ์ ์ํด ๋ก๋ด ์ฌ์ด์ ๊ณต์ ๋๋ ์ ๋ณด๋ฅผ ๋ํ๋ด๊ธฐ ์ํด ๋ ๊ฐ์ง ๋ชจ๋ธ์ ์ฌ์ฉํ๋ค. ๋จผ์ ์ค์์์ ๊ณต์ ์ ๋ณด๋ฅผ ๊ด๋ฆฌํ๊ธฐ ์ํด ๋ผ์ด๋ธ๋ฌ๋ฆฌ ํ์คํฌ๋ผ๋ ํน๋ณํ ํ์คํฌ๋ฅผ ํตํด ๊ณต์ ์ ๋ณด๋ฅผ ๋ํ๋ธ๋ค. ๋ํ, ๋ก๋ด์ด ์์ ์ ์ ๋ณด๋ฅผ ๊ฐ๊น์ด ๋ก๋ด๋ค๊ณผ ๊ณต์ ํ๊ธฐ ์ํด ๋ฉํฐ์บ์คํ
์ ์ํ ์๋ก์ด ํฌํธ๋ฅผ ์ถ๊ฐํ๋ค. ์ด๋ ๊ฒ ํ์ฅ๋ ์ ํ์ ์ธ ๋ชจ๋ธ์ ์ค์ ๋ก๋ด ์ฝ๋๋ก ์๋ ์์ฑ๋์ด, ์ํํธ์จ์ด ์ค๊ณ ์์ฐ์ฑ ๋ฐ ๊ฐ๋ฐ ํจ์จ์ฑ์ ์ด์ ์ ๊ฐ์ง๋ค.
๋น์ ๋ฌธ๊ฐ๊ฐ ๋ช
์ธํ ์คํฌ๋ฆฝํธ ์ธ์ด๋ ์ ํ์ ์ธ ํ์คํฌ ๋ชจ๋ธ๋ก ๋ณํํ๊ธฐ ์ํด ์ค๊ฐ ๋จ๊ณ์ธ ์ ๋ต ๋จ๊ณ๋ฅผ ์ถ๊ฐํ์๋ค. ์ ์ํ๋ ๋ฐฉ๋ฒ๋ก ์ ํ๋น์ฑ์ ๊ฒ์ฆํ๊ธฐ ์ํด, ์๋ฎฌ๋ ์ด์
๊ณผ ์ฌ๋ฌ ๋์ ์ค์ ๋ก๋ด์ ์ด์ฉํ ํ์
ํ๋ ์๋๋ฆฌ์ค์ ๋ํด ์คํ์ ์งํํ์๋ค.In the near future, it will be common that a variety of robots are cooperating to perform a mission in various fields. There are two software challenges when deploying collaborative robots: how to specify a cooperative mission and how to program each robot to accomplish its mission. In this paper, we propose a novel software development framework that separates mission specification and robot behavior programming, which is called service-oriented and model-based (SeMo) framework. Also, it can support distributed robot systems, swarm robots, and their hybrid.
For mission specification, a novel scripting language is proposed with the expression capability. It involves team composition and service-oriented behavior specification of each team, allowing dynamic mode change of operation and multi-tasking. Robots are grouped into teams, and the behavior of each team is defined with a composite service. The internal behavior of a composite service is defined by a sequence of services that the robots will perform. The notion of plan is applied to express multi-tasking. And the robot may have various operating modes, so mode change is triggered by events generated in a composite service. Moreover, to improve the robustness, scalability, and flexibility of robot collaboration, the high-level mission scripting language is extended with new features such as team hierarchy, group service, one-to-many communication. We assume that any robot fails during the execution of scenarios, and the grouping of robots can be made at run-time dynamically. Therefore, the extended mission specification enables a casual user to specify various types of cooperative missions easily.
For robot behavior programming, an extended dataflow model is used for task-level behavior specification that does not depend on the robot hardware platform. To specify the dynamic behavior of the robot, we apply an extended task model that supports a hybrid specification of dataflow and finite state machine models. Furthermore, we propose a novel extension to allow the explicit specification of loop structures. This extension helps the compute-intensive application, which contains a lot of loop structures, to specify explicitly and analyze at compile time. Two types of information sharing, global information sharing and local knowledge sharing, are supported for robot collaboration in the dataflow graph. For global information, we use the library task, which supports shared resource management and server-client interaction. On the other hand, to share information locally with near robots, we add another type of port for multicasting and use the knowledge sharing technique. The actual robot code per robot is automatically generated from the associated task graph, which minimizes the human efforts in low-level robot programming and improves the software design productivity significantly.
By abstracting the tasks or algorithms as services and adding the strategy description layer in the design flow, the mission specification is refined into task-graph specification automatically. The viability of the proposed methodology is verified with preliminary experiments with three cooperative mission scenarios with heterogeneous robot platforms and robot simulator.Chapter 1. Introduction 1
1.1 Motivation 1
1.2 Contribution 7
1.3 Dissertation Organization 9
Chapter 2. Background and Existing Research 11
2.1 Terminologies 11
2.2 Robot Software Development Frameworks 25
2.3 Parallel Embedded Software Development Framework 31
Chapter 3. Overview of the SeMo Framework 41
3.1 Motivational Examples 45
Chapter 4. Robot Behavior Programming 47
4.1 Related works 48
4.2 Model-based Task Graph Specification for Individual Robots 56
4.3 Model-based Task Graph Specification for Cooperating Robots 70
4.4 Automatic Code Generation 74
4.5 Experiments 78
Chapter 5. High-level Mission Specification 81
5.1 Service-oriented Mission Specification 82
5.2 Strategy Description 93
5.3 Automatic Task Graph Generation 96
5.4 Related works 99
5.5 Experiments 104
Chapter 6. Conclusion 114
6.1 Future Research 116
Bibliography 118
Appendices 133
์์ฝ 158Docto
Autonomous Vehicle Coordination with Wireless Sensor and Actuator Networks
A coordinated team of mobile wireless sensor and actuator nodes can bring numerous benefits for various applications in the field of cooperative surveillance, mapping unknown areas, disaster management, automated highway and space exploration. This article explores the idea of mobile nodes using vehicles on wheels, augmented with wireless, sensing, and control capabilities. One of the vehicles acts as a leader, being remotely driven by the user, the others represent the followers. Each vehicle has a low-power wireless sensor node attached, featuring a 3D accelerometer and a magnetic compass. Speed and orientation are computed in real time using inertial navigation techniques. The leader periodically transmits these measures to the followers, which implement a lightweight fuzzy logic controller for imitating the leader's movement pattern. We report in detail on all development phases, covering design, simulation, controller tuning, inertial sensor evaluation, calibration, scheduling, fixed-point computation, debugging, benchmarking, field experiments, and lessons learned
Overlay virtualized wireless sensor networks for application in industrial internet of things : a review
Abstract: In recent times, Wireless Sensor Networks (WSNs) are broadly applied in the Industrial Internet of Things (IIoT) in order to enhance the productivity and efficiency of existing and prospective manufacturing industries. In particular, an area of interest that concerns the use of WSNs in IIoT is the concept of sensor network virtualization and overlay networks. Both network virtualization and overlay networks are considered contemporary because they provide the capacity to create services and applications at the edge of existing virtual networks without changing the underlying infrastructure. This capability makes both network virtualization and overlay network services highly beneficial, particularly for the dynamic needs of IIoT based applications such as in smart industry applications, smart city, and smart home applications. Consequently, the study of both WSN virtualization and overlay networks has become highly patronized in the literature, leading to the growth and maturity of the research area. In line with this growth, this paper provides a review of the development made thus far concerning virtualized sensor networks, with emphasis on the application of overlay networks in IIoT. Principally, the process of virtualization in WSN is discussed along with its importance in IIoT applications. Different challenges in WSN are also presented along with possible solutions given by the use of virtualized WSNs. Further details are also presented concerning the use of overlay networks as the next step to supporting virtualization in shared sensor networks. Our discussion closes with an exposition of the existing challenges in the use of virtualized WSN for IIoT applications. In general, because overlay networks will be contributory to the future development and advancement of smart industrial and smart city applications, this review may be considered by researchers as a reference point for those particularly interested in the study of this growing field
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