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 mobile agent and message ferry mechanism based routing for delay tolerant network

Delay Tolerant Network (DTN) is a class of networks characterized by long delays, frequent disconnections and partitioning of communication paths between network nodes. Due to the frequent disconnection and network partitioning, the overall performance of the network will be deteriorated sharply. The problem is how to make the network fairly connected to optimize data routing and enhance the performance of a network. The aim of this study is to improve the performance of DTN by minimizing end-to-end delivery time and increasing message delivery ratio. Therefore, this research tackles the problem of intermittent connectivity and network partitioning by introducing Agents and Ferry Mechanism based Routing (AFMR). The AFMR comprises of two stages by applying two schemes: mobile agents and ferry mechanism. The agents' scheme is proposed to deal with intermittent connectivity and network partitioning by collecting the basic information about network connection such as signal strength, nodes position in the network and distance to the destination nodes to minimize end-to-end delivery time. The second stage is to increase the message delivery ratio by moving the nodes towards the path with available network connectivity based on agents' feedback. The AFMR is evaluated through simulations and the results are compared with those of Epidemic, PRoPHET and Message Ferry (MF). The findings demonstrate that AFMR is superior to all three, with respect to the average end-to-end delivery time, message delivery ratio, network load and message drop ratio, which are regarded as extremely important metrics for the evaluation of DTN routing protocols. The AFMR achieves improved network performance in terms of end-to-end delivery time (56.3%); enhanced message delivery ratio (60.0%); mitigation of message drop (63.5%) and reduced network load (26.1 %). The contributions of this thesis are to enhance the performance of DTN by significantly overcoming the intermittent connectivity and network partitioning problems in the network

Machine Learning for Unmanned Aerial System (UAS) Networking

Fueled by the advancement of 5G new radio (5G NR), rapid development has occurred in many fields. Compared with the conventional approaches, beamforming and network slicing enable 5G NR to have ten times decrease in latency, connection density, and experienced throughput than 4G long term evolution (4G LTE). These advantages pave the way for the evolution of Cyber-physical Systems (CPS) on a large scale. The reduction of consumption, the advancement of control engineering, and the simplification of Unmanned Aircraft System (UAS) enable the UAS networking deployment on a large scale to become feasible. The UAS networking can finish multiple complex missions simultaneously. However, the limitations of the conventional approaches are still a big challenge to make a trade-off between the massive management and efficient networking on a large scale. With 5G NR and machine learning, in this dissertation, my contributions can be summarized as the following: I proposed a novel Optimized Ad-hoc On-demand Distance Vector (OAODV) routing protocol to improve the throughput of Intra UAS networking. The novel routing protocol can reduce the system overhead and be efficient. To improve the security, I proposed a blockchain scheme to mitigate the malicious basestations for cellular connected UAS networking and a proof-of-traffic (PoT) to improve the efficiency of blockchain for UAS networking on a large scale. Inspired by the biological cell paradigm, I proposed the cell wall routing protocols for heterogeneous UAS networking. With 5G NR, the inter connections between UAS networking can strengthen the throughput and elasticity of UAS networking. With machine learning, the routing schedulings for intra- and inter- UAS networking can enhance the throughput of UAS networking on a large scale. The inter UAS networking can achieve the max-min throughput globally edge coloring. I leveraged the upper and lower bound to accelerate the optimization of edge coloring. This dissertation paves a way regarding UAS networking in the integration of CPS and machine learning. The UAS networking can achieve outstanding performance in a decentralized architecture. Concurrently, this dissertation gives insights into UAS networking on a large scale. These are fundamental to integrating UAS and National Aerial System (NAS), critical to aviation in the operated and unmanned fields. The dissertation provides novel approaches for the promotion of UAS networking on a large scale. The proposed approaches extend the state-of-the-art of UAS networking in a decentralized architecture. All the alterations can contribute to the establishment of UAS networking with CPS

Trust-Based Cloud Machine Learning Model Selection For Industrial IoT and Smart City Services

With Machine Learning (ML) services now used in a number of mission-critical human-facing domains, ensuring the integrity and trustworthiness of ML models becomes all-important. In this work, we consider the paradigm where cloud service providers collect big data from resource-constrained devices for building ML-based prediction models that are then sent back to be run locally on the intermittently-connected resource-constrained devices. Our proposed solution comprises an intelligent polynomial-time heuristic that maximizes the level of trust of ML models by selecting and switching between a subset of the ML models from a superset of models in order to maximize the trustworthiness while respecting the given reconfiguration budget/rate and reducing the cloud communication overhead. We evaluate the performance of our proposed heuristic using two case studies. First, we consider Industrial IoT (IIoT) services, and as a proxy for this setting, we use the turbofan engine degradation simulation dataset to predict the remaining useful life of an engine. Our results in this setting show that the trust level of the selected models is 0.49% to 3.17% less compared to the results obtained using Integer Linear Programming (ILP). Second, we consider Smart Cities services, and as a proxy of this setting, we use an experimental transportation dataset to predict the number of cars. Our results show that the selected model's trust level is 0.7% to 2.53% less compared to the results obtained using ILP. We also show that our proposed heuristic achieves an optimal competitive ratio in a polynomial-time approximation scheme for the problem

Allocation des ressources dans les environnements informatiques en périphérie des réseaux mobiles

Abstract: The evolution of information technology is increasing the diversity of connected devices and leading to the expansion of new application areas. These applications require ultra-low latency, which cannot be achieved by legacy cloud infrastructures given their distance from users. By placing resources closer to users, the recently developed edge computing paradigm aims to meet the needs of these applications. Edge computing is inspired by cloud computing and extends it to the edge of the network, in proximity to where the data is generated. This paradigm leverages the proximity between the processing infrastructure and the users to ensure ultra-low latency and high data throughput. The aim of this thesis is to improve resource allocation at the network edge to provide an improved quality of service and experience for low-latency applications. For better resource allocation, it is necessary to have reliable knowledge about the resources available at any moment. The first contribution of this thesis is to propose a resource representation to allow the supervisory xentity to acquire information about the resources available to each device. This information is then used by the resource allocation scheme to allocate resources appropriately for the different services. The resource allocation scheme is based on Lyapunov optimization, and it is executed only when resource allocation is required, which reduces the latency and resource consumption on each edge device. The second contribution of this thesis focuses on resource allocation for edge services. The services are created by chaining a set of virtual network functions. Resource allocation for services consists of finding an adequate placement for, routing, and scheduling these virtual network functions. We propose a solution based on game theory and machine learning to find a suitable location and routing for as well as an appropriate scheduling of these functions at the network edge. Finding the location and routing of network functions is formulated as a mean field game solved by iterative Ishikawa-Mann learning. In addition, the scheduling of the network functions on the different edge nodes is formulated as a matching set, which is solved using an improved version of the deferred acceleration algorithm we propose. The third contribution of this thesis is the resource allocation for vehicular services at the edge of the network. In this contribution, the services are migrated and moved to the different infrastructures at the edge to ensure service continuity. Vehicular services are particularly delay sensitive and related mainly to road safety and security. Therefore, the migration of vehicular services is a complex operation. We propose an approach based on deep reinforcement learning to proactively migrate the different services while ensuring their continuity under high mobility constraints.L'évolution des technologies de l'information entraîne la prolifération des dispositifs connectés qui mène à l'exploration de nouveaux champs d'application. Ces applications demandent une latence ultra-faible, qui ne peut être atteinte par les infrastructures en nuage traditionnelles étant donné la distance qui les sépare des utilisateurs. En rapprochant les ressources aux utilisateurs, le paradigme de l'informatique en périphérie, récemment apparu, vise à répondre aux besoins de ces applications. L’informatique en périphérie s'inspire de l’informatique en nuage, en l'étendant à la périphérie du réseau, à proximité de l'endroit où les données sont générées. Ce paradigme tire parti de la proximité entre l'infrastructure de traitement et les utilisateurs pour garantir une latence ultra-faible et un débit élevé des données. L'objectif de cette thèse est l'amélioration de l'allocation des ressources à la périphérie du réseau pour offrir une meilleure qualité de service et expérience pour les applications à faible latence. Pour une meilleure allocation des ressources, il est nécessaire d'avoir une bonne connaissance sur les ressources disponibles à tout moment. La première contribution de cette thèse consiste en la proposition d'une représentation des ressources pour permettre à l'entité de supervision d'acquérir des informations sur les ressources disponibles à chaque dispositif. Ces informations sont ensuite exploitées par le schéma d'allocation des ressources afin d'allouer les ressources de manière appropriée pour les différents services. Le schéma d'allocation des ressources est basé sur l'optimisation de Lyapunov, et il n'est exécuté que lorsque l'allocation des ressources est requise, ce qui réduit la latence et la consommation en ressources sur chaque équipement de périphérie. La deuxième contribution de cette thèse porte sur l'allocation des ressources pour les services en périphérie. Les services sont composés par le chaînage d'un ensemble de fonctions réseau virtuelles. L'allocation des ressources pour les services consiste en la recherche d'un placement, d'un routage et d'un ordonnancement adéquat de ces fonctions réseau virtuelles. Nous proposons une solution basée sur la théorie des jeux et sur l'apprentissage automatique pour trouver un emplacement et routage convenable ainsi qu'un ordonnancement approprié de ces fonctions en périphérie du réseau. La troisième contribution de cette thèse consiste en l'allocation des ressources pour les services véhiculaires en périphérie du réseau. Dans cette contribution, les services sont migrés et déplacés sur les différentes infrastructures en périphérie pour assurer la continuité des services. Les services véhiculaires sont en particulier sensibles à la latence et liés principalement à la sûreté et à la sécurité routière. En conséquence, la migration des services véhiculaires constitue une opération complexe. Nous proposons une approche basée sur l'apprentissage par renforcement profond pour migrer de manière proactive les différents services tout en assurant leur continuité sous les contraintes de mobilité élevée

Environmentally-Aware and Energy-Efficient Multi-Drone Coordination and Networking for Disaster Response

In a Disaster Response Management (DRM) Scenario, Communication and Coordination Are Limited, and Absence of Related Infrastructure Hinders Situational Awareness. Unmanned Aerial Vehicles (UAVs) or Drones Provide New Capabilities for DRM to Address These Barriers. However, There is a Dearth of Works that Address Multiple Heterogeneous Drones Collaboratively Working Together to Form a Flying Ad-Hoc Network (FANET) with Air-To-Air and Air-To-Ground Links that Are Impacted By: (I) Environmental Obstacles, (Ii) Wind, and (Iii) Limited Battery Capacities. in This Paper, We Present a Novel Environmentally-Aware and Energy-Efficient Multi-Drone Coordination and Networking Scheme that Features a Reinforcement Learning (RL) based Location Prediction Algorithm Coupled with a Packet Forwarding Algorithm for Drone-To-Ground Network Establishment. We Specifically Present Two Novel Drone Location-Based Solutions (I.e., Heuristic Greedy, and Learning-Based) in Our Packet Forwarding Approach to Support Application Requirements. These Requirements Involve Improving Connectivity (I.e., Optimize Packet Delivery Ratio and End-To-End Delay) Despite Environmental Obstacles, and Improving Efficiency (I.e., by Lower Energy Use and Time Consumption) Despite Energy Constraints. We Evaluate Our Scheme with State-Of-The-Art Networking Algorithms in a Trace-Based DRM FANET Simulation Testbed Featuring Rural and Metropolitan Areas. Results Show that Our Strategy overcomes Obstacles and Can Achieve 81-To-90% of Network Connectivity Performance Observed under No Obstacle Conditions. in the Presence of Obstacles, Our Scheme Improves the Network Connectivity Performance by 14-To-38% While Also Providing 23-To-54% of Energy Savings in Rural Areas; the Same in Metropolitan Areas Achieved an Average of 25% Gain When Compared with Baseline Obstacle Awareness Approaches with 15-To-76% of Energy Savings