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

Expanding cellular coverage via cell-edge deployment in heterogeneous networks: spectral efficiency and backhaul power consumption perspectives

Heterogeneous small-cell networks (HetNets) are considered to be a standard part of future mobile networks where operator/consumer deployed small-cells, such as femtocells, relays, and distributed antennas (DAs), complement the existing macrocell infrastructure. This article proposes the need-oriented deployment of smallcells and device-to-device (D2D) communication around the edge of the macrocell such that the small-cell base stations (SBSs) and D2D communication serve the cell-edge mobile users, thereby expanding the network coverage and capacity. In this context, we present competitive network configurations, namely, femto-on-edge, DA-onedge, relay-on-edge, and D2D-communication on- edge, where femto base stations, DA elements, relay base stations, and D2D communication, respectively, are deployed around the edge of the macrocell. The proposed deployments ensure performance gains in the network in terms of spectral efficiency and power consumption by facilitating the cell-edge mobile users with small-cells and D2D communication. In order to calibrate the impact of power consumption on system performance and network topology, this article discusses the detailed breakdown of the end-to-end power consumption, which includes backhaul, access, and aggregation network power consumptions. Several comparative simulation results quantify the improvements in spectral efficiency and power consumption of the D2D-communication-onedge configuration to establish a greener network over the other competitive configurations

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

Markov Decision Processes with Applications in Wireless Sensor Networks: A Survey

Wireless sensor networks (WSNs) consist of autonomous and resource-limited devices. The devices cooperate to monitor one or more physical phenomena within an area of interest. WSNs operate as stochastic systems because of randomness in the monitored environments. For long service time and low maintenance cost, WSNs require adaptive and robust methods to address data exchange, topology formulation, resource and power optimization, sensing coverage and object detection, and security challenges. In these problems, sensor nodes are to make optimized decisions from a set of accessible strategies to achieve design goals. This survey reviews numerous applications of the Markov decision process (MDP) framework, a powerful decision-making tool to develop adaptive algorithms and protocols for WSNs. Furthermore, various solution methods are discussed and compared to serve as a guide for using MDPs in WSNs

Relays for Interference Mitigation in Wireless Networks

Wireless links play an important role in the last mile network connectivity. In contrast to the strictly centralized approach of today's wireless systems, the future promises decentralization of network management. Nodes potentially engage in localized grouping and organization based on their neighborhood to carry out complex goals such as end-to-end communication. The quadratic energy dissipation of the wireless medium necessitates the presence of certain relay nodes in the network. Conventionally, the role of such relays is limited to passing messages in a chain in a point-point hopping architecture. With the decentralization, multiple nodes could potentially interfere with each other. This work proposes a technique to exploit the presence of relays in a way that mitigates interference between the network nodes. Optimal spatial locations and transmission schemes which enhance this gain are identified