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

A critical analysis of mobility management related issues of wireless sensor networks in cyber physical systems

Mobility management has been a long-standing issue in mobile wireless sensor networks and especially in the context of cyber physical systems; its implications are immense. This paper presents a critical analysis of the current approaches to mobility management by evaluating them against a set of criteria which are essentially inherent characteristics of such systems on which these approaches are expected to provide acceptable performance. We summarize these characteristics by using a quadruple set of metrics. Additionally, using this set we classify the various approaches to mobility management that are discussed in this paper. Finally, the paper concludes by reviewing the main findings and providing suggestions that will be helpful to guide future research efforts in the area

Long-Term Stable Communication in Centrally Scheduled Low-Power Wireless Networks

With the emergence of the Internet of Things (IoT), more devices are connected than ever before. Most of these communicate wirelessly, forming Wireless Sensor Networks. In recent years, there has been a shift from personal networks, like Smart Home, to industrial networks. Industrial networks monitor pipelines or handle the communication between robots in factories. These new applications form the Industrial Internet of Things (IIoT). Many industrial applications have high requirements for communication, higher than the requirements of common IoT networks. Communications must stick to hard deadlines to avoid harm, and they must be highly reliable as skipping information is not a viable option when communicating critical information. Moreover, communication has to remain reliable over longer periods of time. As many sensor locations do not offer a power source, the devices have to run on battery and thus have to be power efficient. Current systems offer solutions for some of these requirements. However, they especially lack long-term stable communication that can dynamically adapt to changes in the wireless medium.In this thesis, we study the problem of stable and reliable communication in centrally scheduled low-power wireless networks. This communication ought to be stable when it can dynamically adapt to changes in the wireless medium while keeping latency at a minimum. We design and investigate approaches to solve the problem of low to high degrees of interference in the wireless medium. We propose three solutions to overcome interference: MASTER with Sliding Windows brings dynamic numbers of retransmissions to centrally scheduled low-power wireless networks, OVERTAKE allows to skip nodes affected by interference along the path, and AUTOBAHN combines opportunistic routing and synchronous transmissions with the Time-Slotted Channel Hopping (TSCH) MAC protocol to overcome local wide-band interference with the lowest possible latency. We evaluate our approaches in detail on testbed deployments and provide open-source implementations of the protocols to enable others to build their work upon them

A critical analysis of mobility management related issues of wireless sensor networks in cyber physical systems

Mobility management has been a long-standing issue in mobile wireless sensor networks and especially in the context of cyber physical systems its implications are immense. This paper presents a critical analysis of the current approaches to mobility management by evaluating them against a set of criteria which are essentially inherent characteristics of such systems on which these approaches are expected to provide acceptable performance. We summarize these characteristics by using a quadruple set of metrics. Additionally, using this set we classify the various approaches to mobility management that are discussed in this paper. Finally, the paper concludes by reviewing the main findings and providing suggestions that will be helpful to guide future research efforts in the area. **Please note that there are multiple authors for this article therefore only the name of the first 5 including Federation University Australia affiliate “Muhammad Imran” is provided in this record*

Improving The Fault Tolerance of Ad Hoc Routing Protocols using Aspect-oriented Programming

[ES] Las redes ad hoc son redes inalámbricas distribuidas formadas por nodos móviles que se ubican libremente y dinámicamente, capaces de organizarse de manera propia en topologías arbitrarias y temporales, a través de la actuación de los protocolos de encaminamiento. Estas redes permiten a las personas y dispositivos conectarse sin problemas rápidamente, en áreas sin una infraestructura de comunicaciones previa y con un bajo coste. Muchos estudios demuestran que los protocolos de encaminamiento ad hoc se ven amenazados por una variedad de fallos accidentales y maliciosos, como la saturación de vecinos, que puede afectar a cualquier tipo de red ad hoc, y el ruido ambiental, que puede afectar en general a todas las redes inalámbricas. Por lo tanto, el desarrollo y la implementación de estrategias de tolerancia a fallos para mitigar el efecto de las fallos, es esencial para el uso práctico de este tipo de redes. Sin embargo, los mecanismos de tolerancia a fallos suelen estar implementados de manera específica, dentro del código fuente de los protocolos de encaminamiento que hace que i) ser reescrito y reorganizado cada vez que una nueva versión de un protocolo se libera, y ii) tener un carácter completamente remodelado y adaptado a las nuevas versiones de los protocolos. Esta tesis de máster explora la viabilidad de utilizar programación orientada a aspectos (AOP), para desarrollar e implementar los mecanismos de tolerancia a fallos adecuados para toda una familia de protocolos de encaminamiento, es decir, las versiones actuales y futuras de un protocolo determinado (OLSR en este caso). Por otra parte, se propone una nueva metodología para ampliar estos mecanismos a diferentes familias de protocolos proactivos (OLSR, BATMAN y Babel) con un nuevo concepto de AOP, el metaaspecto. La viabilidad y efectividad de la propuesta se ha evaluado experimentalmente, estableciendo así un nuevo método para mejorar la implementación de la portabilidad y facilidad de mantenimiento de los mecanismos de tolerancia a fallos en los protocolos de enrutamiento ad hoc y, por lo tanto, la fiabilidad de las redes ad hoc.[EN] Ad hoc networks are distributed networks consisting of wireless mobile nodes that can freely and dynamically self-organize into arbitrary and temporary topologies, through the operation of routing protocols. These networks allow people and devices to seamlessly interconnect rapidly in areas with no pre-existing communication infrastructure and with a low cost. Many studies show that ad hoc routing protocols are threatened by a variety of accidental and malicious faults, like neighbour saturation, which may affect any kind of ad hoc network, and ambient noise, which may impact all wireless networks in general. Therefore, developing and deploying fault tolerance strategies to mitigate the effect of such faults is essential for the practical use of this kind of networks. However, those fault tolerance mechanisms are usually embedded into the source code of routing protocols which causes that i) they must be rewritten and redeployed whenever a new version of a protocol is released, and ii) they must be completely redeveloped and adapted to new routing protocols. This master thesis explores the feasibility of using Aspect-Oriented Programming (AOP) to develop and deploy fault tolerance mechanisms suitable for a whole family of routing protocols, i.e. existing and future versions of a given protocol (OLSR in this case). Furthermore, a new methodology is proposed to extend these mechanisms to different families of proactive protocols (OLSR, B.A.T.M.A.N and Babel) using a new concept in AOP, the meta-aspect. The feasibility and effectiveness of the proposal is experimentally assessed, thus establishing a new method to improve the deployment, portability, and maintainability of fault tolerance mechanisms for ad hoc routing protocols and, therefore, the dependability of ad hoc networks.Bustos Rodríguez, AJ. (2012). Improving The Fault Tolerance of Ad Hoc Routing Protocols using Aspect-oriented Programming. http://hdl.handle.net/10251/18421Archivo delegad

A Beaconless Asymmetric Energy-Efficient Time Synchronization Scheme for Resource-Constrained Multi-Hop Wireless Sensor Networks

The ever-increasing number of WSN deployments based on a large number of battery-powered, low-cost sensor nodes, which are limited in their computing and power resources, puts the focus of WSN time synchronization research on three major aspects, i.e., accuracy, energy consumption and computational complexity. In the literature, the latter two aspects have not received much attention compared to the accuracy of WSN time synchronization. Especially in multi-hop WSNs, intermediate gateway nodes are overloaded with tasks for not only relaying messages but also a variety of computations for their offspring nodes as well as themselves. Therefore, not only minimizing the energy consumption but also lowering the computational complexity while maintaining the synchronization accuracy is crucial to the design of time synchronization schemes for resource-constrained sensor nodes. In this paper, focusing on the three aspects of WSN time synchronization, we introduce a framework of reverse asymmetric time synchronization for resource-constrained multi-hop WSNs and propose a beaconless energy-efficient time synchronization scheme based on reverse one-way message dissemination. Experimental results with a WSN testbed based on TelosB motes running TinyOS demonstrate that the proposed scheme conserves up to 95% energy consumption compared to the flooding time synchronization protocol while achieving microsecond-level synchronization accuracy.Comment: 12 pages, 16 figure

Design and evaluation of a self-configuring wireless mesh network architecture

Wireless network connectivity plays an increasingly important role in supporting our everyday private and professional lives. For over three decades, self-organizing wireless multi-hop ad-hoc networks have been investigated as a decentralized replacement for the traditional forms of wireless networks that rely on a wired infrastructure. However, despite the tremendous efforts of the international wireless research community and widespread availability of devices that are able to support these networks, wireless ad-hoc networks are hardly ever used. In this work, the reasons behind this discrepancy are investigated. It is found that several basic theoretical assumptions on ad-hoc networks prove to be wrong when solutions are deployed in reality, and that several basic functionalities are still missing. It is argued that a hierarchical wireless mesh network architecture, in which specialized, multi-interfaced mesh nodes form a reliable multi-hop wireless backbone for the less capable end-user clients is an essential step in bringing the ad-hoc networking concept one step closer to reality. Therefore, in a second part of this work, algorithms increasing the reliability and supporting the deployment and management of these wireless mesh networks are developed, implemented and evaluated, while keeping the observed limitations and practical considerations in mind. Furthermore, the feasibility of the algorithms is verified by experiment. The performance analysis of these protocols and the ability to deploy the developed algorithms on current generation off-the-shelf hardware indicates the successfulness of the followed research approach, which combines theoretical considerations with practical implementations and observations. However, it was found that there are also many pitfalls to using real-life implementation as a research technique. Therefore, in the last part of this work, a methodology for wireless network research using real-life implementation is developed, allowing researchers to generate more reliable protocols and performance analysis results with less effort