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

Cross-layer design of multi-hop wireless networks

MULTI -hop wireless networks are usually defined as a collection of nodes equipped with radio transmitters, which not only have the capability to communicate each other in a multi-hop fashion, but also to route each others’ data packets. The distributed nature of such networks makes them suitable for a variety of applications where there are no assumed reliable central entities, or controllers, and may significantly improve the scalability issues of conventional single-hop wireless networks. This Ph.D. dissertation mainly investigates two aspects of the research issues related to the efficient multi-hop wireless networks design, namely: (a) network protocols and (b) network management, both in cross-layer design paradigms to ensure the notion of service quality, such as quality of service (QoS) in wireless mesh networks (WMNs) for backhaul applications and quality of information (QoI) in wireless sensor networks (WSNs) for sensing tasks. Throughout the presentation of this Ph.D. dissertation, different network settings are used as illustrative examples, however the proposed algorithms, methodologies, protocols, and models are not restricted in the considered networks, but rather have wide applicability. First, this dissertation proposes a cross-layer design framework integrating a distributed proportional-fair scheduler and a QoS routing algorithm, while using WMNs as an illustrative example. The proposed approach has significant performance gain compared with other network protocols. Second, this dissertation proposes a generic admission control methodology for any packet network, wired and wireless, by modeling the network as a black box, and using a generic mathematical 0. Abstract 3 function and Taylor expansion to capture the admission impact. Third, this dissertation further enhances the previous designs by proposing a negotiation process, to bridge the applications’ service quality demands and the resource management, while using WSNs as an illustrative example. This approach allows the negotiation among different service classes and WSN resource allocations to reach the optimal operational status. Finally, the guarantees of the service quality are extended to the environment of multiple, disconnected, mobile subnetworks, where the question of how to maintain communications using dynamically controlled, unmanned data ferries is investigated

An Energy Driven Architecture for Wireless Sensor Networks

Most wireless sensor networks operate with very limited energy sources-their batteries, and hence their usefulness in real life applications is severely constrained. The challenging issues are how to optimize the use of their energy or to harvest their own energy in order to lengthen their lives for wider classes of application. Tackling these important issues requires a robust architecture that takes into account the energy consumption level of functional constituents and their interdependency. Without such architecture, it would be difficult to formulate and optimize the overall energy consumption of a wireless sensor network. Unlike most current researches that focus on a single energy constituent of WSNs independent from and regardless of other constituents, this paper presents an Energy Driven Architecture (EDA) as a new architecture and indicates a novel approach for minimising the total energy consumption of a WS

Optimal coverage multi-path scheduling scheme with multiple mobile sinks for WSNs

Wireless Sensor Networks (WSNs) are usually formed with many tiny sensors which are randomly deployed within sensing field for target monitoring. These sensors can transmit their monitored data to the sink in a multi-hop communication manner. However, the ‘hot spots’ problem will be caused since nodes near sink will consume more energy during forwarding. Recently, mobile sink based technology provides an alternative solution for the long-distance communication and sensor nodes only need to use single hop communication to the mobile sink during data transmission. Even though it is difficult to consider many network metrics such as sensor position, residual energy and coverage rate etc., it is still very important to schedule a reasonable moving trajectory for the mobile sink. In this paper, a novel trajectory scheduling method based on coverage rate for multiple mobile sinks (TSCR-M) is presented especially for large-scale WSNs. An improved particle swarm optimization (PSO) combined with mutation operator is introduced to search the parking positions with optimal coverage rate. Then the genetic algorithm (GA) is adopted to schedule the moving trajectory for multiple mobile sinks. Extensive simulations are performed to validate the performance of our proposed method

E2XLRADR (Energy Efficient Cross Layer Routing Algorithm with Dynamic Retransmission for Wireless Sensor Networks)

The main focus of this article is to achieve prolonged network lifetime with overall energy efficiency in wireless sensor networks through controlled utilization of limited energy. Major percentage of energy in wireless sensor network is consumed during routing from source to destination, retransmission of data on packet loss. For improvement, cross layered algorithm is proposed for routing and retransmission scheme. Simulation and results shows that this approach can save the overall energy consumptio

A COMMUNICATION FRAMEWORK FOR MULTIHOP WIRELESS ACCESS AND SENSOR NETWORKS: ANYCAST ROUTING & SIMULATION TOOLS

The reliance on wireless networks has grown tremendously within a number of varied application domains, prompting an evolution towards the use of heterogeneous multihop network architectures. We propose and analyze two communication frameworks for such networks. A first framework is designed for communications within multihop wireless access networks. The framework supports dynamic algorithms for locating access points using anycast routing with multiple metrics and balancing network load. The evaluation shows significant performance improvement over traditional solutions. A second framework is designed for communication within sensor networks and includes lightweight versions of our algorithms to fit the limitations of sensor networks. Analysis shows that this stripped down version can work almost equally well if tailored to the needs of a sensor network. We have also developed an extensive simulation environment using NS-2 to test realistic situations for the evaluations of our work. Our tools support analysis of realistic scenarios including the spreading of a forest fire within an area, and can easily be ported to other simulation software. Lastly, we us our algorithms and simulation environment to investigate sink movements optimization within sensor networks. Based on these results, we propose strategies, to be addressed in follow-on work, for building topology maps and finding optimal data collection points. Altogether, the communication framework and realistic simulation tools provide a complete communication and evaluation solution for access and sensor networks