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

Applying Formal Methods to Networking: Theory, Techniques and Applications

Despite its great importance, modern network infrastructure is remarkable for the lack of rigor in its engineering. The Internet which began as a research experiment was never designed to handle the users and applications it hosts today. The lack of formalization of the Internet architecture meant limited abstractions and modularity, especially for the control and management planes, thus requiring for every new need a new protocol built from scratch. This led to an unwieldy ossified Internet architecture resistant to any attempts at formal verification, and an Internet culture where expediency and pragmatism are favored over formal correctness. Fortunately, recent work in the space of clean slate Internet design---especially, the software defined networking (SDN) paradigm---offers the Internet community another chance to develop the right kind of architecture and abstractions. This has also led to a great resurgence in interest of applying formal methods to specification, verification, and synthesis of networking protocols and applications. In this paper, we present a self-contained tutorial of the formidable amount of work that has been done in formal methods, and present a survey of its applications to networking.Comment: 30 pages, submitted to IEEE Communications Surveys and Tutorial

Finding the Best QoS Path in a Gilbert Channel Network

Many different types of modern wired and wireless communication links can be mathematically described as discrete- time Gilbert channels. In this extended abstract, we present an exact method of calculating the best path in a network of discrete- time Gilbert channels, each of which is defined as a Markov chain with two states. In the "Good" state of the chain, the channel produces no erasure, and in the "Bad" state of the chain, the channel produces an erasure. Our method relies on a modified version of the Dijkstra's algorithm, which we customize to operate on sets of Gilbert channel parameters, instead of real numbers. We prove that the Gilbert channels obeys a certain set of algebraic properties which makes it compatible with our algorithm

CAIR: Using Formal Languages to Study Routing, Leaking, and Interception in BGP

The Internet routing protocol BGP expresses topological reachability and policy-based decisions simultaneously in path vectors. A complete view on the Internet backbone routing is given by the collection of all valid routes, which is infeasible to obtain due to information hiding of BGP, the lack of omnipresent collection points, and data complexity. Commonly, graph-based data models are used to represent the Internet topology from a given set of BGP routing tables but fall short of explaining policy contexts. As a consequence, routing anomalies such as route leaks and interception attacks cannot be explained with graphs. In this paper, we use formal languages to represent the global routing system in a rigorous model. Our CAIR framework translates BGP announcements into a finite route language that allows for the incremental construction of minimal route automata. CAIR preserves route diversity, is highly efficient, and well-suited to monitor BGP path changes in real-time. We formally derive implementable search patterns for route leaks and interception attacks. In contrast to the state-of-the-art, we can detect these incidents. In practical experiments, we analyze public BGP data over the last seven years

Modelling and Design of Resilient Networks under Challenges

Communication networks, in particular the Internet, face a variety of challenges that can disrupt our daily lives resulting in the loss of human lives and significant financial costs in the worst cases. We define challenges as external events that trigger faults that eventually result in service failures. Understanding these challenges accordingly is essential for improvement of the current networks and for designing Future Internet architectures. This dissertation presents a taxonomy of challenges that can help evaluate design choices for the current and Future Internet. Graph models to analyse critical infrastructures are examined and a multilevel graph model is developed to study interdependencies between different networks. Furthermore, graph-theoretic heuristic optimisation algorithms are developed. These heuristic algorithms add links to increase the resilience of networks in the least costly manner and they are computationally less expensive than an exhaustive search algorithm. The performance of networks under random failures, targeted attacks, and correlated area-based challenges are evaluated by the challenge simulation module that we developed. The GpENI Future Internet testbed is used to conduct experiments to evaluate the performance of the heuristic algorithms developed