MAP: Medial Axis Based Geometric Routing in Sensor Networks

One of the challenging tasks in the deployment of dense wireless networks (like sensor networks) is in devising a routing scheme for node to node communication. Important consideration includes scalability, routing complexity, the length of the communication paths and the load sharing of the routes. In this paper, we show that a compact and expressive abstraction of network connectivity by the medial axis enables efficient and localized routing. We propose MAP, a Medial Axis based naming and routing Protocol that does not require locations, makes routing decisions locally, and achieves good load balancing. In its preprocessing phase, MAP constructs the medial axis of the sensor field, defined as the set of nodes with at least two closest boundary nodes. The medial axis of the network captures both the complex geometry and non-trivial topology of the sensor field. It can be represented compactly by a graph whose size is comparable with the complexity of the geometric features (e.g., the number of holes). Each node is then given a name related to its position with respect to the medial axis. The routing scheme is derived through local decisions based on the names of the source and destination nodes and guarantees delivery with reasonable and natural routes. We show by both theoretical analysis and simulations that our medial axis based geometric routing scheme is scalable, produces short routes, achieves excellent load balancing, and is very robust to variations in the network model

A Sensor Network Data Compression Algorithm Based on Suboptimal Clustering and Virtual Landmark Routing Within Clusters

A kind of data compression algorithm for sensor networks based on suboptimal clustering and virtual landmark routing within clusters is proposed in this paper. Firstly, temporal redundancy existing in data obtained by the same node in sequential instants can be eliminated. Then sensor networks nodes will be clustered. Virtual node landmarks in clusters can be established based on cluster heads. Routing in clusters can be realized by combining a greedy algorithm and a flooding algorithm. Thirdly, a global structure tree based on cluster heads will be established. During the course of data transmissions from nodes to cluster heads and from cluster heads to sink, the spatial redundancy existing in the data will be eliminated. Only part of the raw data needs to be transmitted from nodes to sink, and all raw data can be recovered in the sink based on a compression code and part of the raw data. Consequently, node energy can be saved, largely because transmission of redundant data can be avoided. As a result the overall performance of the sensor network can obviously be improved

Greedy routing with guaranteed delivery using Ricci flows

Greedy forwarding with geographical locations in a wireless sensor network may fail at a local minimum. In this paper we propose to use conformal mapping to compute a new embedding of the sensor nodes in the plane such that greedy forwarding with the virtual coordinates guarantees delivery. In particular, we extract a planar triangulation of the sensor network with non-triangular faces as holes, by either using the nodes ’ location or using a landmark-based scheme without node location. The conformal map is computed with Ricci flow such that all the non-triangular faces are mapped to perfect circles. Thus greedy forwarding will never get stuck at an intermediate node. The computation of the conformal map and the virtual coordinates is performed at a preprocessing phase and can be implemented by local gossip-style computation. The method applies to both unit disk graph models and quasi-unit disk graph models. Simulation results are presented for these scenarios

Greedy routing and virtual coordinates for future networks

At the core of the Internet, routers are continuously struggling with ever-growing routing and forwarding tables. Although hardware advances do accommodate such a growth, we anticipate new requirements e.g. in data-oriented networking where each content piece has to be referenced instead of hosts, such that current approaches relying on global information will not be viable anymore, no matter the hardware progress. In this thesis, we investigate greedy routing methods that can achieve similar routing performance as today but use much less resources and which rely on local information only. To this end, we add specially crafted name spaces to the network in which virtual coordinates represent the addressable entities. Our scheme enables participating routers to make forwarding decisions using only neighbourhood information, as the overarching pseudo-geometric name space structure already organizes and incorporates "vicinity" at a global level. A first challenge to the application of greedy routing on virtual coordinates to future networks is that of "routing dead-ends" that are local minima due to the difficulty of consistent coordinates attribution. In this context, we propose a routing recovery scheme based on a multi-resolution embedding of the network in low-dimensional Euclidean spaces. The recovery is performed by routing greedily on a blurrier view of the network. The different network detail-levels are obtained though the embedding of clustering-levels of the graph. When compared with higher-dimensional embeddings of a given network, our method shows a significant diminution of routing failures for similar header and control-state sizes. A second challenge to the application of virtual coordinates and greedy routing to future networks is the support of "customer-provider" as well as "peering" relationships between participants, resulting in a differentiated services environment. Although an application of greedy routing within such a setting would combine two very common fields of today's networking literature, such a scenario has, surprisingly, not been studied so far. In this context we propose two approaches to address this scenario. In a first approach we implement a path-vector protocol similar to that of BGP on top of a greedy embedding of the network. This allows each node to build a spatial map associated with each of its neighbours indicating the accessible regions. Routing is then performed through the use of a decision-tree classifier taking the destination coordinates as input. When applied on a real-world dataset (the CAIDA 2004 AS graph) we demonstrate an up to 40% compression ratio of the routing control information at the network's core as well as a computationally efficient decision process comparable to methods such as binary trees and tries. In a second approach, we take inspiration from consensus-finding in social sciences and transform the three-dimensional distance data structure (where the third dimension encodes the service differentiation) into a two-dimensional matrix on which classical embedding tools can be used. This transformation is achieved by agreeing on a set of constraints on the inter-node distances guaranteeing an administratively-correct greedy routing. The computed distances are also enhanced to encode multipath support. We demonstrate a good greedy routing performance as well as an above 90% satisfaction of multipath constraints when relying on the non-embedded obtained distances on synthetic datasets. As various embeddings of the consensus distances do not fully exploit their multipath potential, the use of compression techniques such as transform coding to approximate the obtained distance allows for better routing performances

Simplicial Homology for Future Cellular Networks

Simplicial homology is a tool that provides a mathematical way to compute the connectivity and the coverage of a cellular network without any node location information. In this article, we use simplicial homology in order to not only compute the topology of a cellular network, but also to discover the clusters of nodes still with no location information. We propose three algorithms for the management of future cellular networks. The first one is a frequency auto-planning algorithm for the self-configuration of future cellular networks. It aims at minimizing the number of planned frequencies while maximizing the usage of each one. Then, our energy conservation algorithm falls into the self-optimization feature of future cellular networks. It optimizes the energy consumption of the cellular network during off-peak hours while taking into account both coverage and user traffic. Finally, we present and discuss the performance of a disaster recovery algorithm using determinantal point processes to patch coverage holes

Overlay Addressing and Routing System Based on Hyperbolic Geometry

International audienceLocal knowledge routing schemes based on virtual coordinates taken from the hyperbolic plane have attracted considerable interest in recent years. In this paper, we propose a new approach for seizing the power of the hyperbolic geometry. We aim at building a scalable and reliable system for creating and managing overlay networks over the Internet. The system is implemented as a peer-to-peer infrastructure based on the transport layer connections between the peers. Through analysis, we show the limitations of the Poincaré disk model for providing virtual coordinates. Through simulations, we assess the practicability of our proposal. Results show that peer-to-peer overlays based on hyperbolic geometry have acceptable performances while introducing scalability and flexibility in dynamic peer-to-peer overlay networks

Autonomous Drone Landings on an Unmanned Marine Vehicle using Deep Reinforcement Learning

This thesis describes with the integration of an Unmanned Surface Vehicle (USV) and an Unmanned Aerial Vehicle (UAV, also commonly known as drone) in a single Multi-Agent System (MAS). In marine robotics, the advantage offered by a MAS consists of exploiting the key features of a single robot to compensate for the shortcomings in the other. In this way, a USV can serve as the landing platform to alleviate the need for a UAV to be airborne for long periods time, whilst the latter can increase the overall environmental awareness thanks to the possibility to cover large portions of the prevailing environment with a camera (or more than one) mounted on it. There are numerous potential applications in which this system can be used, such as deployment in search and rescue missions, water and coastal monitoring, and reconnaissance and force protection, to name but a few. The theory developed is of a general nature. The landing manoeuvre has been accomplished mainly identifying, through artificial vision techniques, a fiducial marker placed on a flat surface serving as a landing platform. The raison d'etre for the thesis was to propose a new solution for autonomous landing that relies solely on onboard sensors and with minimum or no communications between the vehicles. To this end, initial work solved the problem while using only data from the cameras mounted on the in-flight drone. In the situation in which the tracking of the marker is interrupted, the current position of the USV is estimated and integrated into the control commands. The limitations of classic control theory used in this approached suggested the need for a new solution that empowered the flexibility of intelligent methods, such as fuzzy logic or artificial neural networks. The recent achievements obtained by deep reinforcement learning (DRL) techniques in end-to-end control in playing the Atari video-games suite represented a fascinating while challenging new way to see and address the landing problem. Therefore, novel architectures were designed for approximating the action-value function of a Q-learning algorithm and used to map raw input observation to high-level navigation actions. In this way, the UAV learnt how to land from high latitude without any human supervision, using only low-resolution grey-scale images and with a level of accuracy and robustness. Both the approaches have been implemented on a simulated test-bed based on Gazebo simulator and the model of the Parrot AR-Drone. The solution based on DRL was further verified experimentally using the Parrot Bebop 2 in a series of trials. The outcomes demonstrate that both these innovative methods are both feasible and practicable, not only in an outdoor marine scenario but also in indoor ones as well

Sidewinder: A Predictive Data Forwarding Protocol for Mobile Wireless Sensor Networks

Abstract—In-situ data collection for mobile wireless sensor network deployments has received little study, such as in the case of floating sensor networks for storm surge and innundation monitoring. We demonstrate through quantitative study that traditional approaches to routing in mobile environments do not work well due to volatile topology changes. Consequently, we propose Sidewinder, a predictive data forwarding protocol for mobile wireless sensor networks. Like a heat-seeking missile, data packets are guided towards a sink node with increasing accuracy as packets approach the sink. Different from conventional sensor network routing protocols, Sidewinder continuously predicts the current sink location based on distributed knowledge of sink mobility among nodes in a multi-hop routing process. More-over, the continuous sink estimation is scaled and adjusted to perform with resource-constrained wireless sensors. Our design is implemented with nesC and evaluated in TOSSIM. The per-formance evaluation demonstrates that Sidewinder significantly outperforms state-of-the-art solutions in packet delivery ratio, time delay, and energy efficiency. I