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

Unified Role Assignment Framework For Wireless Sensor Networks

Wireless sensor networks are made possible by the continuing improvements in embedded sensor, VLSI, and wireless radio technologies. Currently, one of the important challenges in sensor networks is the design of a systematic network management framework that allows localized and collaborative resource control uniformly across all application services such as sensing, monitoring, tracking, data aggregation, and routing. The research in wireless sensor networks is currently oriented toward a cross-layer network abstraction that supports appropriate fine or course grained resource controls for energy efficiency. In that regard, we have designed a unified role-based service paradigm for wireless sensor networks. We pursue this by first developing a Role-based Hierarchical Self-Organization (RBSHO) protocol that organizes a connected dominating set (CDS) of nodes called dominators. This is done by hierarchically selecting nodes that possess cumulatively high energy, connectivity, and sensing capabilities in their local neighborhood. The RBHSO protocol then assigns specific tasks such as sensing, coordination, and routing to appropriate dominators that end up playing a certain role in the network. Roles, though abstract and implicit, expose role-specific resource controls by way of role assignment and scheduling. Based on this concept, we have designed a Unified Role-Assignment Framework (URAF) to model application services as roles played by local in-network sensor nodes with sensor capabilities used as rules for role identification. The URAF abstracts domain specific role attributes by three models: the role energy model, the role execution time model, and the role service utility model. The framework then generalizes resource management for services by providing abstractions for controlling the composition of a service in terms of roles, its assignment, reassignment, and scheduling. To the best of our knowledge, a generic role-based framework that provides a simple and unified network management solution for wireless sensor networks has not been proposed previously

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

Airborne Directional Networking: Topology Control Protocol Design

This research identifies and evaluates the impact of several architectural design choices in relation to airborne networking in contested environments related to autonomous topology control. Using simulation, we evaluate topology reconfiguration effectiveness using classical performance metrics for different point-to-point communication architectures. Our attention is focused on the design choices which have the greatest impact on reliability, scalability, and performance. In this work, we discuss the impact of several practical considerations of airborne networking in contested environments related to autonomous topology control modeling. Using simulation, we derive multiple classical performance metrics to evaluate topology reconfiguration effectiveness for different point-to-point communication architecture attributes for the purpose of qualifying protocol design elements

Mobile Ad hoc Networking: Imperatives and Challenges

Mobile ad hoc networks (MANETs) represent complex distributed systems that comprise wireless mobile nodes that can freely and dynamically self-organize into arbitrary and temporary, "ad-hoc" network topologies, allowing people and devices to seamlessly internetwork in areas with no pre-existing communication infrastructure, e.g., disaster recovery environments. Ad hoc networking concept is not a new one, having been around in various forms for over 20 years. Traditionally, tactical networks have been the only communication networking application that followed the ad hoc paradigm. Recently, the introduction of new technologies such as the Bluetooth, IEEE 802.11 and Hyperlan are helping enable eventual commercial MANET deployments outside the military domain. These recent evolutions have been generating a renewed and growing interest in the research and development of MANET. This paper attempts to provide a comprehensive overview of this dynamic field. It first explains the important role that mobile ad hoc networks play in the evolution of future wireless technologies. Then, it reviews the latest research activities in these areas, including a summary of MANET\u27s characteristics, capabilities, applications, and design constraints. The paper concludes by presenting a set of challenges and problems requiring further research in the future

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

Self-stabilizing cluster routing in Manet using link-cluster architecture

We design a self-stabilizing cluster routing algorithm based on the link-cluster architecture of wireless ad hoc networks. The network is divided into clusters. Each cluster has a single special node, called a clusterhead that contains the routing information about inter and intra-cluster communication. A cluster is comprised of all nodes that choose the corresponding clusterhead as their leader. The algorithm consists of two main tasks. First, the set of special nodes (clusterheads) is elected such that it models the link-cluster architecture: any node belongs to a single cluster, it is within two hops of the clusterhead, it knows the direct neighbor on the shortest path towards the clusterhead, and there exist no two adjacent clusterheads. Second, the routing tables are maintained by the clusterheads to store information about nodes both within and outside the cluster. There are two advantages of maintaining routing tables only in the clusterheads. First, as no two neighboring nodes are clusterheads (as per the link-cluster architecture), there is no need to check the consistency of the routing tables. Second, since all other nodes have significantly less work (they only forward messages), they use much less power than the clusterheads. Therefore, if a clusterhead runs out of power, a neighboring node (that is not a clusterhead) can accept the role of a clusterhead. (Abstract shortened by UMI.)