Tight Lower Bounds for Greedy Routing in Higher-Dimensional Small-World Grids

We consider Kleinberg's celebrated small world graph model (Kleinberg, 2000), in which a D-dimensional grid {0,...,n-1}^D is augmented with a constant number of additional unidirectional edges leaving each node. These long range edges are determined at random according to a probability distribution (the augmenting distribution), which is the same for each node. Kleinberg suggested using the inverse D-th power distribution, in which node v is the long range contact of node u with a probability proportional to ||u-v||^(-D). He showed that such an augmenting distribution allows to route a message efficiently in the resulting random graph: The greedy algorithm, where in each intermediate node the message travels over a link that brings the message closest to the target w.r.t. the Manhattan distance, finds a path of expected length O(log^2 n) between any two nodes. In this paper we prove that greedy routing does not perform asymptotically better for any uniform and isotropic augmenting distribution, i.e., the probability that node u has a particular long range contact v is independent of the labels of u and v and only a function of ||u-v||. In order to obtain the result, we introduce a novel proof technique: We define a budget game, in which a token travels over a game board, while the player manages a "probability budget". In each round, the player bets part of her remaining probability budget on step sizes. A step size is chosen at random according to a probability distribution of the player's bet. The token then makes progress as determined by the chosen step size, while some of the player's bet is removed from her probability budget. We prove a tight lower bound for such a budget game, and then obtain a lower bound for greedy routing in the D-dimensional grid by a reduction

NextBestOnce: Achieving Polylog Routing despite Non-greedy Embeddings

Social Overlays suffer from high message delivery delays due to insufficient routing strategies. Limiting connections to device pairs that are owned by individuals with a mutual trust relationship in real life, they form topologies restricted to a subgraph of the social network of their users. While centralized, highly successful social networking services entail a complete privacy loss of their users, Social Overlays at higher performance represent an ideal private and censorship-resistant communication substrate for the same purpose. Routing in such restricted topologies is facilitated by embedding the social graph into a metric space. Decentralized routing algorithms have up to date mainly been analyzed under the assumption of a perfect lattice structure. However, currently deployed embedding algorithms for privacy-preserving Social Overlays cannot achieve a sufficiently accurate embedding and hence conventional routing algorithms fail. Developing Social Overlays with acceptable performance hence requires better models and enhanced algorithms, which guarantee convergence in the presence of local optima with regard to the distance to the target. We suggest a model for Social Overlays that includes inaccurate embeddings and arbitrary degree distributions. We further propose NextBestOnce, a routing algorithm that can achieve polylog routing length despite local optima. We provide analytical bounds on the performance of NextBestOnce assuming a scale-free degree distribution, and furthermore show that its performance can be improved by more than a constant factor when including Neighbor-of-Neighbor information in the routing decisions.Comment: 23 pages, 2 figure

Adaptive Dynamics of Realistic Small-World Networks

Continuing in the steps of Jon Kleinberg's and others celebrated work on decentralized search in small-world networks, we conduct an experimental analysis of a dynamic algorithm that produces small-world networks. We find that the algorithm adapts robustly to a wide variety of situations in realistic geographic networks with synthetic test data and with real world data, even when vertices are uneven and non-homogeneously distributed. We investigate the same algorithm in the case where some vertices are more popular destinations for searches than others, for example obeying power-laws. We find that the algorithm adapts and adjusts the networks according to the distributions, leading to improved performance. The ability of the dynamic process to adapt and create small worlds in such diverse settings suggests a possible mechanism by which such networks appear in nature

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

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