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

Byzantine Attack and Defense in Cognitive Radio Networks: A Survey

The Byzantine attack in cooperative spectrum sensing (CSS), also known as the spectrum sensing data falsification (SSDF) attack in the literature, is one of the key adversaries to the success of cognitive radio networks (CRNs). In the past couple of years, the research on the Byzantine attack and defense strategies has gained worldwide increasing attention. In this paper, we provide a comprehensive survey and tutorial on the recent advances in the Byzantine attack and defense for CSS in CRNs. Specifically, we first briefly present the preliminaries of CSS for general readers, including signal detection techniques, hypothesis testing, and data fusion. Second, we analyze the spear and shield relation between Byzantine attack and defense from three aspects: the vulnerability of CSS to attack, the obstacles in CSS to defense, and the games between attack and defense. Then, we propose a taxonomy of the existing Byzantine attack behaviors and elaborate on the corresponding attack parameters, which determine where, who, how, and when to launch attacks. Next, from the perspectives of homogeneous or heterogeneous scenarios, we classify the existing defense algorithms, and provide an in-depth tutorial on the state-of-the-art Byzantine defense schemes, commonly known as robust or secure CSS in the literature. Furthermore, we highlight the unsolved research challenges and depict the future research directions.Comment: Accepted by IEEE Communications Surveys and Tutoiral

Distributed Estimation and Control of Algebraic Connectivity over Random Graphs

In this paper we propose a distributed algorithm for the estimation and control of the connectivity of ad-hoc networks in the presence of a random topology. First, given a generic random graph, we introduce a novel stochastic power iteration method that allows each node to estimate and track the algebraic connectivity of the underlying expected graph. Using results from stochastic approximation theory, we prove that the proposed method converges almost surely (a.s.) to the desired value of connectivity even in the presence of imperfect communication scenarios. The estimation strategy is then used as a basic tool to adapt the power transmitted by each node of a wireless network, in order to maximize the network connectivity in the presence of realistic Medium Access Control (MAC) protocols or simply to drive the connectivity toward a desired target value. Numerical results corroborate our theoretical findings, thus illustrating the main features of the algorithm and its robustness to fluctuations of the network graph due to the presence of random link failures.Comment: To appear in IEEE Transactions on Signal Processin

Multitask Diffusion Adaptation over Networks

Adaptive networks are suitable for decentralized inference tasks, e.g., to monitor complex natural phenomena. Recent research works have intensively studied distributed optimization problems in the case where the nodes have to estimate a single optimum parameter vector collaboratively. However, there are many important applications that are multitask-oriented in the sense that there are multiple optimum parameter vectors to be inferred simultaneously, in a collaborative manner, over the area covered by the network. In this paper, we employ diffusion strategies to develop distributed algorithms that address multitask problems by minimizing an appropriate mean-square error criterion with $\ell_2$-regularization. The stability and convergence of the algorithm in the mean and in the mean-square sense is analyzed. Simulations are conducted to verify the theoretical findings, and to illustrate how the distributed strategy can be used in several useful applications related to spectral sensing, target localization, and hyperspectral data unmixing.Comment: 29 pages, 11 figures, submitted for publicatio

Implementation Issues of Adaptive Energy Detection in Heterogeneous Wireless Networks

Abstract Spectrum sensing (SS) enables the coexistence of non-coordinated heterogeneous wireless systems operating in the same band. Due to its computational simplicity, energy detection (ED) technique has been widespread employed in SS applications; nonetheless, the conventional ED may be unreliable under environmental impairments, justifying the use of ED-based variants. Assessing ED algorithms from theoretical and simulation viewpoints relies on several assumptions and simplifications which, eventually, lead to conclusions that do not necessarily meet the requirements imposed by real propagation environments. This work addresses those problems by dealing with practical implementation issues of adaptive least mean square (LMS)-based ED algorithms. The paper proposes a new adaptive ED algorithm that uses a variable step-size guaranteeing the LMS convergence in time-varying environments. Several implementation guidelines are provided and, additionally, an empirical assessment and validation with a software defined radio-based hardware is carried out. Experimental results show good performance in terms of probabilities of detection (P-d > 0.9) and false alarm (P-f similar to 0.05) in a range of low signal-to-noise ratios around [4, 1] dB, in both single-node and cooperative modes. The proposed sensing methodology enables a seamless monitoring of the radio electromagnetic spectrum in order to provide band occupancy information for an efficient usage among several wireless communications systems.This work has been financially supported in part by the Spanish Ministry of Economy and Competitiveness under Project 5G-NewBROs (TEC2015-66153-P MINECO/FEDER, UE), and in part by the Basque Government (IT-683-13 and ELKARTEK program under BID3A3 and BID3ABI projects) and the European Regional Development Fund, ERDF