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

Effective Node Clustering and Data Dissemination In Large-Scale Wireless Sensor Networks

The denseness and random distribution of large-scale WSNs makes it quite difficult to replace or recharge nodes. Energy efficiency and management is a major design goal in these networks. In addition, reliability and scalability are two other major goals that have been identified by researchers as necessary in order to further expand the deployment of such networks for their use in various applications. This thesis aims to provide an energy efficient and effective node clustering and data dissemination algorithm in large-scale wireless sensor networks. In the area of clustering, the proposed research prolongs the lifetime of the network by saving energy through the use of node ranking to elect cluster heads, contrary to other existing cluster-based work that selects a random node or the node with the highest energy at a particular time instance as the new cluster head. Moreover, a global knowledge strategy is used to maintain a level of universal awareness of existing nodes in the subject area and to avoid the problem of disconnected or forgotten nodes. In the area of data dissemination, the aim of this research is to effectively manage the data collection by developing an efficient data collection scheme using a ferry node and applying a selective duty cycle strategy to the sensor nodes. Depending on the application, mobile ferries can be used for collecting data in a WSN, especially those that are large in scale, with delay tolerant applications. Unlike data collection via multi-hop forwarding among the sensing nodes, ferries travel across the sensing field to collect data. A ferry-based approach thus eliminates, or minimizes, the need for the multi-hop forwarding of data, and as a result, energy consumption at the nodes will be significantly reduced. This is especially true for nodes that are near the base station as they are used by other nodes to forward data to the base station. MATLAB is used to design, simulate and evaluate the proposed work against the work that has already been done by others by using various performance criteria

Hybrid routing in delay tolerant networks

This work addresses the integration of today\\u27s infrastructure-based networks with infrastructure-less networks. The resulting Hybrid Routing System allows for communication over both network types and can help to overcome cost, communication, and overload problems. Mobility aspect resulting from infrastructure-less networks are analyzed and analytical models developed. For development and deployment of the Hybrid Routing System an overlay-based framework is presented

Hybrid Routing in Delay Tolerant Networks

This work addresses the integration of today\u27s infrastructure-based networks with infrastructure-less networks. The resulting Hybrid Routing System allows for communication over both network types and can help to overcome cost, communication, and overload problems. Mobility aspect resulting from infrastructure-less networks are analyzed and analytical models developed. For development and deployment of the Hybrid Routing System an overlay-based framework is presented

Hedonic Coalition Formation for Distributed Task Allocation among Wireless Agents

Autonomous wireless agents such as unmanned aerial vehicles or mobile base stations present a great potential for deployment in next-generation wireless networks. While current literature has been mainly focused on the use of agents within robotics or software applications, we propose a novel usage model for self-organizing agents suited to wireless networks. In the proposed model, a number of agents are required to collect data from several arbitrarily located tasks. Each task represents a queue of packets that require collection and subsequent wireless transmission by the agents to a central receiver. The problem is modeled as a hedonic coalition formation game between the agents and the tasks that interact in order to form disjoint coalitions. Each formed coalition is modeled as a polling system consisting of a number of agents which move between the different tasks present in the coalition, collect and transmit the packets. Within each coalition, some agents can also take the role of a relay for improving the packet success rate of the transmission. The proposed algorithm allows the tasks and the agents to take distributed decisions to join or leave a coalition, based on the achieved benefit in terms of effective throughput, and the cost in terms of delay. As a result of these decisions, the agents and tasks structure themselves into independent disjoint coalitions which constitute a Nash-stable network partition. Moreover, the proposed algorithm allows the agents and tasks to adapt the topology to environmental changes such as the arrival/removal of tasks or the mobility of the tasks. Simulation results show how the proposed algorithm improves the performance, in terms of average player (agent or task) payoff, of at least 30.26% (for a network of 5 agents with up to 25 tasks) relatively to a scheme that allocates nearby tasks equally among agents.Comment: to appear, IEEE Transactions on Mobile Computin

Surveying Position Based Routing Protocols for Wireless Sensor and Ad-hoc Networks

A focus of the scientific community is to design network oriented position-based routing protocols and this has resulted in a very high number of algorithms, different in approach and performance and each suited only to particular applications. However, though numerous, very few position-based algorithms have actually been adopted for commercial purposes. This article is a survey of almost 50 position-based routing protocols and it comes as an aid in the implementation of this type of routing in various applications which may need to consider the advantages and pitfalls of position-based routing. An emphasis is made on geographic routing, whose notion is clarified as a more restrictive and more efficient type of position-based routing. The protocols are therefore divided into geographic and non-geographic routing protocols and each is characterized according to a number of network design issues and presented in a comparative manner from multiple points of view. The main requirements of current general applications are also studied and, depending on these, the survey proposes a number of protocols for use in particular application areas. This aims to help both researchers and potential users assess and choose the protocol best suited to their interest