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

A Congestion Control Framework Based on In-Network Resource Pooling

Congestion control has traditionally relied on monitoring packet-level performance (e.g. latency, loss) through feedback signals propagating end-to-end together with various queue management practices (e.g. carefully setting various parameters, such as router buffer thresholds) in order to regulate traffic flow. Due to its end-to-end nature, this approach is known to transfer data according to the path's slowest link, requiring several RTTs to transmit even a few tens of KB during slow start. In this paper, we take a radically different approach to control congestion, which obviates end-to-end performance monitoring and careful setting of network parameters. The resulting In-Network Resource Pooling Protocol (INRPP) extends the resource pooling principle to exploit in-network resources such as router storage and unused bandwidth along alternative sub-paths. In INRPP, content caches or large (possibly bloated) router buffers are used as a place of temporary custody for incoming data packets in a store and forward manner. Data senders push data in the network and when it hits the bottleneck link, in-network caches at every hop store data in excess of the link capacity; nodes progressively move/send data (from one cache to the next) towards the destination. At the same time alternative sub-paths are exploited to move data faster towards the destination. We demonstrate through extensive simulations that INRPP is TCP friendly, and improves flow completion time and fairness by as much as 50% compared to RCP, MPTCP and TCP, under realistic network condition

Integrating wireless technologies into intra-vehicular communication

With the emergence of connected and autonomous vehicles, sensors are increasingly deployed within car. Traffic generated by these sensors congest traditional intra-vehicular networks, such as CAN buses. Furthermore, the large amount of wires needed to connect sensors makes it hard to design cars in a modular way. These limitations have created impetus to use wireless technologies to support intra-vehicular communication. In this dissertation, we tackle the challenge of designing and evaluating data collection protocols for intra-car networks that can operate reliably and efficiently under dynamic channel conditions. First, we evaluate the feasibility of deploying an intra-car wireless network based on the Backpressure Collection Protocol (BCP), which is theoretically proven to be throughput-optimal. We uncover a surprising behavior in which, under certain dynamic channel conditions, the average packet delay of BCP decreases with the traffic load. We propose and analyze a queueing-theoretic model to shed light into the observed phenomenon. As a solution, we propose a new protocol, called replication-based LIFO-backpressure (RBL). Analytical and simulation results indicate that RBL dramatically reduces the delay of BCP at low load, while maintaining its high throughput performance. Next, we propose and implement a hybrid wired/wireless architecture, in which each node is connected to either a wired interface or a wireless interface or both. We propose a new protocol, called Hybrid-Backpressure Collection Protocol (Hybrid-BCP), for the intra-car hybrid networks. Our testbed implementation, based on CAN and ZigBee transceivers, demonstrates the load balancing and routing functionalities of Hybrid-BCP and its resilience to DoS attacks. We further provide simulation results, obtained based on real intra-car RSSI traces, showing that Hybrid-BCP can achieve the same performance as a tree-based protocol while reducing the radio transmission power by a factor of 10. Finally, we present TeaCP, a prototype Toolkit for the evaluation and analysis of Collection Protocols in both simulation and experimental environments. TeaCP evaluates a wide range of standard performance metrics, such as reliability, throughput, and latency. TeaCP further allows visualization of routes and network topology evolution. Through simulation of an intra-car WSN and real lab experiments, we demonstrate the functionality of TeaCP for comparing different collection protocols

Distributed scheduling algorithms for LoRa-based wide area cyber-physical systems

Low Power Wide Area Networks (LPWAN) are a class of wireless communication protocols that work over long distances, consume low power and support low datarates. LPWANs have been designed for monitoring applications, with sparse communication from nodes to servers and sparser from servers to nodes. Inspite of their initial design, LPWANs have the potential to target applications with higher and stricter requirements like those of Cyber-Physical Systems (CPS). Due to their long-range capabilities, LPWANs can specifically target CPS applications distributed over a wide-area, which is referred to as Wide-Area CPS (WA-CPS). Augmenting WA-CPSs with wireless communication would allow for more flexible, low-cost and easily maintainable deployment. However, wireless communications come with problems like reduced reliability and unpredictable latencies, making them harder to use for CPSs. With this intention, this thesis explores the use of LPWANs, specifically LoRa, to meet the communication and control requirements of WA-CPSs. The thesis focuses on using LoRa due to its high resilience to noise, several communication parameters to choose from and a freely modifiable communication stack and servers making it ideal for research and deployment. However, LoRaWAN suffers from low reliability due to its ALOHA channel access method. The thesis posits that "Distributed algorithms would increase the protocol's reliability allowing it to meet the requirements of WA-CPSs". Three different application scenarios are explored in this thesis that leverage unexplored aspects of LoRa to meet their requirements. The application scenarios are delay-tolerant vehicular networks, multi-stakeholder WA-CPS deployments and water distribution networks. The systems use novel algorithms to facilitate communication between the nodes and gateways to ensure a highly reliable system. The results outperform state-of-art techniques to prove that LoRa is currently under-utilised and can be used for CPS applications.Open Acces

Congestion avoidance in overlay networks through multipath routing

Overlay networks relying on traditional multicast routing approaches use only a single path between a sender and a receiver. This path is selected based on latency, with the goal of achieving fast delivery. Content is routed through links with low latency, ignoring slower links of the network which remain unused. With the increasing size of content on the Internet, this leads to congestion, messages are dropped and have to be retransmitted. A multicast multipath congestion-avoidance routing scheme which uses multiple bottleneck-disjoint paths between senders and receivers was developed, as was a linear programming model of the network to distribute messages intelligently across these paths according to two goals: minimum network usage and load-balancing. The former aims to use as few links as possible to perform routing, while the latter spreads messages across as many links as possible, evenly distributing the traffic. Another technique, called message splitting, was also used. This allows nodes to send a single copy of a message with multiple receivers, which will then be duplicated by a node closer to the receivers and sent along separate paths only when required. The model considers all of the messages in the network and is a global optimisation. Nevertheless, it can be solved quickly for large networks and workloads, with the cost of routing remaining almost entirely the cost of finding multiple paths between senders and receivers. The Gurobi linear programming solver was used to find solutions to the model. This routing approach was implemented in the NS-3 network simulator. The work is presented as a messaging middleware scheme, which can be applied to any overlay messaging network.Open Acces

Stability and Distributed Power Control in MANETs with Outages and Retransmissions

In the current work the effects of hop-by-hop packet loss and retransmissions via ARQ protocols are investigated within a Mobile Ad-hoc NET-work (MANET). Errors occur due to outages and a success probability function is related to each link, which can be controlled by power and rate allocation. We first derive the expression for the network's capacity region, where the success function plays a critical role. Properties of the latter as well as the related maximum goodput function are presented and proved. A Network Utility Maximization problem (NUM) with stability constraints is further formulated which decomposes into (a) the input rate control problem and (b) the scheduling problem. Under certain assumptions problem (b) is relaxed to a weighted sum maximization problem with number of summants equal to the number of nodes. This further allows the formulation of a non-cooperative game where each node decides independently over its transmitting power through a chosen link. Use of supermodular game theory suggests a price based algorithm that converges to a power allocation satisfying the necessary optimality conditions of (b). Implementation issues are considered so that minimum information exchange between interfering nodes is required. Simulations illustrate that the suggested algorithm brings near optimal results.Comment: 25 pages, 6 figures, 1 table, submitted to the IEEE Trans. on Communication