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

Distance Aware Relaying Energy-efficient: DARE to Monitor Patients in Multi-hop Body Area Sensor Networks

In recent years, interests in the applications of Wireless Body Area Sensor Network (WBASN) is noticeably developed. WBASN is playing a significant role to get the real time and precise data with reduced level of energy consumption. It comprises of tiny, lightweight and energy restricted sensors, placed in/on the human body, to monitor any ambiguity in body organs and measure various biomedical parameters. In this study, a protocol named Distance Aware Relaying Energy-efficient (DARE) to monitor patients in multi-hop Body Area Sensor Networks (BASNs) is proposed. The protocol operates by investigating the ward of a hospital comprising of eight patients, under different topologies by positioning the sink at different locations or making it static or mobile. Seven sensors are attached to each patient, measuring different parameters of Electrocardiogram (ECG), pulse rate, heart rate, temperature level, glucose level, toxins level and motion. To reduce the energy consumption, these sensors communicate with the sink via an on-body relay, affixed on the chest of each patient. The body relay possesses higher energy resources as compared to the body sensors as, they perform aggregation and relaying of data to the sink node. A comparison is also conducted conducted with another protocol of BAN named, Mobility-supporting Adaptive Threshold-based Thermal-aware Energy-efficient Multi-hop ProTocol (M-ATTEMPT). The simulation results show that, the proposed protocol achieves increased network lifetime and efficiently reduces the energy consumption, in relative to M-ATTEMPT protocol.Comment: IEEE 8th International Conference on Broadband and Wireless Computing, Communication and Applications (BWCCA'13), Compiegne, Franc

Hedonic Coalition Formation for Distributed Task Allocation among Wireless Agents

Autonomous wireless agents such as unmanned aerial vehicles or mobile base stations present a great potential for deployment in next-generation wireless networks. While current literature has been mainly focused on the use of agents within robotics or software applications, we propose a novel usage model for self-organizing agents suited to wireless networks. In the proposed model, a number of agents are required to collect data from several arbitrarily located tasks. Each task represents a queue of packets that require collection and subsequent wireless transmission by the agents to a central receiver. The problem is modeled as a hedonic coalition formation game between the agents and the tasks that interact in order to form disjoint coalitions. Each formed coalition is modeled as a polling system consisting of a number of agents which move between the different tasks present in the coalition, collect and transmit the packets. Within each coalition, some agents can also take the role of a relay for improving the packet success rate of the transmission. The proposed algorithm allows the tasks and the agents to take distributed decisions to join or leave a coalition, based on the achieved benefit in terms of effective throughput, and the cost in terms of delay. As a result of these decisions, the agents and tasks structure themselves into independent disjoint coalitions which constitute a Nash-stable network partition. Moreover, the proposed algorithm allows the agents and tasks to adapt the topology to environmental changes such as the arrival/removal of tasks or the mobility of the tasks. Simulation results show how the proposed algorithm improves the performance, in terms of average player (agent or task) payoff, of at least 30.26% (for a network of 5 agents with up to 25 tasks) relatively to a scheme that allocates nearby tasks equally among agents.Comment: to appear, IEEE Transactions on Mobile Computin

The Role of the Internet of Things in Network Resilience

Disasters lead to devastating structural damage not only to buildings and transport infrastructure, but also to other critical infrastructure, such as the power grid and communication backbones. Following such an event, the availability of minimal communication services is however crucial to allow efficient and coordinated disaster response, to enable timely public information, or to provide individuals in need with a default mechanism to post emergency messages. The Internet of Things consists in the massive deployment of heterogeneous devices, most of which battery-powered, and interconnected via wireless network interfaces. Typical IoT communication architectures enables such IoT devices to not only connect to the communication backbone (i.e. the Internet) using an infrastructure-based wireless network paradigm, but also to communicate with one another autonomously, without the help of any infrastructure, using a spontaneous wireless network paradigm. In this paper, we argue that the vast deployment of IoT-enabled devices could bring benefits in terms of data network resilience in face of disaster. Leveraging their spontaneous wireless networking capabilities, IoT devices could enable minimal communication services (e.g. emergency micro-message delivery) while the conventional communication infrastructure is out of service. We identify the main challenges that must be addressed in order to realize this potential in practice. These challenges concern various technical aspects, including physical connectivity requirements, network protocol stack enhancements, data traffic prioritization schemes, as well as social and political aspects

Towards Augmenting Federated Wireless Sensor Networks

AbstractEnvironmental Monitoring (EM) has witnessed significant improvements in recent years due to the great utility of Wireless Sensor Networks (WSNs). Nevertheless, due to harsh operational conditions in such applications, WSNs often suffer large scale damage in which nodes fail concurrently and the network gets partitioned into disjoint sectors. Thus, reestablishing connectivity between the sectors, via their remaining functional nodes, is of utmost importance in EM; especially in forestry. In this regard, considerable work has been proposed in the literature tackling this problem by deploying Relay Nodes (RNs) aimed at re-establishing connectivity. Although finding the minimum relay count and positions is NP-Hard, efficient heuristic approaches have been anticipated. However, the majority of these approaches ignore the surrounding environment characteristics and the infinite 3-Dimensional (3-D) search space which significantly degrades network performance in practice. Therefore, we propose a 3-D grid-based deployment for relay nodes in which the relays are efficiently placed on grid vertices. We present a novel approach, named FADI, based on a minimum spanning tree construction to re-connect the disjointed WSN sectors. The performance of the proposed approach is validated and assessed through extensive simulations, and comparisons with two main stream approaches are presented. Our protocol outperforms the related work in terms of the average relay node count and distribution, the scalability of the federated WSNs in large scale applications, and the robustness of the topologies formed