12,488 research outputs found
Distributed Algorithms for Stochastic Source Seeking With Mobile Robot Networks
Autonomous robot networks are an effective tool for monitoring large-scale environmental fields. This paper proposes distributed control strategies for localizing the source of a noisy signal, which could represent a physical quantity of interest such as magnetic force, heat, radio signal, or chemical concentration. We develop algorithms specific to two scenarios: one in which the sensors have a precise model of the signal formation process and one in which a signal model is not available. In the model-free scenario, a team of sensors is used to follow a stochastic gradient of the signal field. Our approach is distributed, robust to deformations in the group geometry, does not necessitate global localization, and is guaranteed to lead the sensors to a neighborhood of a local maximum of the field. In the model-based scenario, the sensors follow a stochastic gradient of the mutual information (MI) between their expected measurements and the expected source location in a distributed manner. The performance is demonstrated in simulation using a robot sensor network to localize the source of a wireless radio signal
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
Formal analysis techniques for gossiping protocols
We give a survey of formal verification techniques that can be used to corroborate existing experimental results for gossiping protocols in a rigorous manner. We present properties of interest for gossiping protocols and discuss how various formal evaluation techniques can be employed to predict them
Performance Modelling and Optimisation of Multi-hop Networks
A major challenge in the design of large-scale networks is to predict and optimise the
total time and energy consumption required to deliver a packet from a source node to a
destination node. Examples of such complex networks include wireless ad hoc and sensor
networks which need to deal with the effects of node mobility, routing inaccuracies, higher
packet loss rates, limited or time-varying effective bandwidth, energy constraints, and the
computational limitations of the nodes. They also include more reliable communication
environments, such as wired networks, that are susceptible to random failures, security
threats and malicious behaviours which compromise their quality of service (QoS) guarantees.
In such networks, packets traverse a number of hops that cannot be determined
in advance and encounter non-homogeneous network conditions that have been largely
ignored in the literature. This thesis examines analytical properties of packet travel in
large networks and investigates the implications of some packet coding techniques on both
QoS and resource utilisation.
Specifically, we use a mixed jump and diffusion model to represent packet traversal
through large networks. The model accounts for network non-homogeneity regarding
routing and the loss rate that a packet experiences as it passes successive segments of a
source to destination route. A mixed analytical-numerical method is developed to compute
the average packet travel time and the energy it consumes. The model is able to capture
the effects of increased loss rate in areas remote from the source and destination, variable
rate of advancement towards destination over the route, as well as of defending against
malicious packets within a certain distance from the destination. We then consider sending
multiple coded packets that follow independent paths to the destination node so as to
mitigate the effects of losses and routing inaccuracies. We study a homogeneous medium
and obtain the time-dependent properties of the packetās travel process, allowing us to
compare the merits and limitations of coding, both in terms of delivery times and energy
efficiency. Finally, we propose models that can assist in the analysis and optimisation
of the performance of inter-flow network coding (NC). We analyse two queueing models
for a router that carries out NC, in addition to its standard packet routing function. The
approach is extended to the study of multiple hops, which leads to an optimisation problem
that characterises the optimal time that packets should be held back in a router, waiting
for coding opportunities to arise, so that the total packet end-to-end delay is minimised
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