11,377 research outputs found
MAP: Medial Axis Based Geometric Routing in Sensor Networks
One of the challenging tasks in the deployment of dense wireless networks (like sensor networks) is in devising a routing scheme for node to node communication. Important consideration includes scalability, routing complexity, the length of the communication paths and the load sharing of the routes. In this paper, we show that a compact and expressive abstraction of network connectivity by the medial axis enables efficient and localized routing. We propose MAP, a Medial Axis based naming and routing Protocol that does not require locations, makes routing decisions locally, and achieves good load balancing. In its preprocessing phase, MAP constructs the medial axis of the sensor field, defined as the set of nodes with at least two closest boundary nodes. The medial axis of the network captures both the complex geometry and non-trivial topology of the sensor field. It can be represented compactly by a graph whose size is comparable with the complexity of the geometric features (e.g., the number of holes). Each node is then given a name related to its position with respect to the medial axis. The routing scheme is derived through local decisions based on the names of the source and destination nodes and guarantees delivery with reasonable and natural routes. We show by both theoretical analysis and simulations that our medial axis based geometric routing scheme is scalable, produces short routes, achieves excellent load balancing, and is very robust to variations in the network model
Landmark Guided Probabilistic Roadmap Queries
A landmark based heuristic is investigated for reducing query phase run-time
of the probabilistic roadmap (\PRM) motion planning method. The heuristic is
generated by storing minimum spanning trees from a small number of vertices
within the \PRM graph and using these trees to approximate the cost of a
shortest path between any two vertices of the graph. The intermediate step of
preprocessing the graph increases the time and memory requirements of the
classical motion planning technique in exchange for speeding up individual
queries making the method advantageous in multi-query applications. This paper
investigates these trade-offs on \PRM graphs constructed in randomized
environments as well as a practical manipulator simulation.We conclude that the
method is preferable to Dijkstra's algorithm or the algorithm with
conventional heuristics in multi-query applications.Comment: 7 Page
Joint Routing and STDMA-based Scheduling to Minimize Delays in Grid Wireless Sensor Networks
In this report, we study the issue of delay optimization and energy
efficiency in grid wireless sensor networks (WSNs). We focus on STDMA (Spatial
Reuse TDMA)) scheduling, where a predefined cycle is repeated, and where each
node has fixed transmission opportunities during specific slots (defined by
colors). We assume a STDMA algorithm that takes advantage of the regularity of
grid topology to also provide a spatially periodic coloring ("tiling" of the
same color pattern). In this setting, the key challenges are: 1) minimizing the
average routing delay by ordering the slots in the cycle 2) being energy
efficient. Our work follows two directions: first, the baseline performance is
evaluated when nothing specific is done and the colors are randomly ordered in
the STDMA cycle. Then, we propose a solution, ORCHID that deliberately
constructs an efficient STDMA schedule. It proceeds in two steps. In the first
step, ORCHID starts form a colored grid and builds a hierarchical routing based
on these colors. In the second step, ORCHID builds a color ordering, by
considering jointly both routing and scheduling so as to ensure that any node
will reach a sink in a single STDMA cycle. We study the performance of these
solutions by means of simulations and modeling. Results show the excellent
performance of ORCHID in terms of delays and energy compared to a shortest path
routing that uses the delay as a heuristic. We also present the adaptation of
ORCHID to general networks under the SINR interference model
Spanners for Geometric Intersection Graphs
Efficient algorithms are presented for constructing spanners in geometric
intersection graphs. For a unit ball graph in R^k, a (1+\epsilon)-spanner is
obtained using efficient partitioning of the space into hypercubes and solving
bichromatic closest pair problems. The spanner construction has almost
equivalent complexity to the construction of Euclidean minimum spanning trees.
The results are extended to arbitrary ball graphs with a sub-quadratic running
time.
For unit ball graphs, the spanners have a small separator decomposition which
can be used to obtain efficient algorithms for approximating proximity problems
like diameter and distance queries. The results on compressed quadtrees,
geometric graph separators, and diameter approximation might be of independent
interest.Comment: 16 pages, 5 figures, Late
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