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

Two-stage wireless network emulation

Testing and deploying mobile wireless networks and applications are very challenging tasks, due to the network size and administration as well as node mobility management. Well known simulation tools provide a more flexible environment but they do not run in real time and they rely on models of the developed system rather than on the system itself. Emulation is a hybrid approach allowing real application and traffic to be run over a simulated network, at the expense of accuracy when the number of nodes is too important. In this paper, emulation is split in two stages : first, the simulation of network conditions is precomputed so that it does not undergo real-time constraints that decrease its accuracy ; second, real applications and traffic are run on an emulation platform where the precomputed events are scheduled in soft real-time. This allows the use of accurate models for node mobility, radio signal propagation and communication stacks. An example shows that a simple situation can be simply tested with real applications and traffic while relying on accurate models. The consistency between the simulation results and the emulated conditions is also illustrated

Virtual Communication Stack: Towards Building Integrated Simulator of Mobile Ad Hoc Network-based Infrastructure for Disaster Response Scenarios

Responses to disastrous events are a challenging problem, because of possible damages on communication infrastructures. For instance, after a natural disaster, infrastructures might be entirely destroyed. Different network paradigms were proposed in the literature in order to deploy adhoc network, and allow dealing with the lack of communications. However, all these solutions focus only on the performance of the network itself, without taking into account the specificities and heterogeneity of the components which use it. This comes from the difficulty to integrate models with different levels of abstraction. Consequently, verification and validation of adhoc protocols cannot guarantee that the different systems will work as expected in operational conditions. However, the DEVS theory provides some mechanisms to allow integration of models with different natures. This paper proposes an integrated simulation architecture based on DEVS which improves the accuracy of ad hoc infrastructure simulators in the case of disaster response scenarios.Comment: Preprint. Unpublishe

An efficient counter-based broadcast scheme for mobile ad hoc networks

In mobile ad hoc networks (MANETs), broadcasting plays a fundamental role, diffusing a message from a given source node to all the other nodes in the network. Flooding is the simplest and commonly used mechanism for broadcasting in MANETs, where each node retransmits every uniquely received message exactly once. Despite its simplicity, it however generates redundant rebroadcast messages which results in high contention and collision in the network, a phenomenon referred to as broadcast storm problem. Pure probabilistic approaches have been proposed to mitigate this problem inherent with flooding, where mobile nodes rebroadcast a message with a probability p which can be fixed or computed based on the local density. However, these approaches reduce the number of rebroadcasts at the expense of reachability. On the other hand, counter-based approaches inhibit a node from broadcasting a packet based on the number of copies of the broadcast packet received by the node within a random access delay time. These schemes achieve better throughput and reachability, but suffer from relatively longer delay. In this paper, we propose an efficient broadcasting scheme that combines the advantages of pure probabilistic and counter-based schemes to yield a significant performance improvement. Simulation results reveal that the new scheme achieves superior performance in terms of saved-rebroadcast, reachability and latency

W-NINE: a two-stage emulation platform for mobile and wireless systems

More and more applications and protocols are now running on wireless networks. Testing the implementation of such applications and protocols is a real challenge as the position of the mobile terminals and environmental effects strongly affect the overall performance. Network emulation is often perceived as a good trade-off between experiments on operational wireless networks and discrete-event simulations on Opnet or ns-2. However, ensuring repeatability and realism in network emulation while taking into account mobility in a wireless environment is very difficult. This paper proposes a network emulation platform, called W-NINE, based on off-line computations preceding online pattern-based traffic shaping. The underlying concepts of repeatability, dynamicity, accuracy and realism are defined in the emulation context. Two different simple case studies illustrate the validity of our approach with respect to these concepts