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

Diff-Max: Separation of routing and scheduling in backpressure-based wireless networks

Original manuscript September 19, 2012Backpressure routing and scheduling, with throughput-optimal operation guarantee, is a promising technique to improve throughput in wireless multi-hop networks. Although backpressure is conceptually viewed as layered, the decisions of routing and scheduling are made jointly, which imposes several challenges in practice. In this work, we present Diff-Max, an approach that separates routing and scheduling and has three strengths: (i) Diff-Max improves throughput significantly, (ii) the separation of routing and scheduling makes practical implementation easier by minimizing cross-layer operations; i.e., routing is implemented in the network layer and scheduling is implemented in the link layer, and (iii) the separation of routing and scheduling leads to modularity; i.e., routing and scheduling are independent modules in Diff-Max, and one can continue to operate even if the other does not. Our approach is grounded in a network utility maximization (NUM) formulation and its solution. Based on the structure of Diff-Max, we propose two practical schemes: Diff-subMax and wDiff-subMax. We demonstrate the benefits of our schemes through simulation in ns-2.National Science Foundation (U.S.) (Grant CNS-0915988)United States. Office of Naval Research (Grant N00014-12-1-0064)United States. Army Research Office. Multidisciplinary University Research Initiative (Grant W911NF-08-1-0238

Delay-aware Backpressure Routing Using Graph Neural Networks

We propose a throughput-optimal biased backpressure (BP) algorithm for routing, where the bias is learned through a graph neural network that seeks to minimize end-to-end delay. Classical BP routing provides a simple yet powerful distributed solution for resource allocation in wireless multi-hop networks but has poor delay performance. A low-cost approach to improve this delay performance is to favor shorter paths by incorporating pre-defined biases in the BP computation, such as a bias based on the shortest path (hop) distance to the destination. In this work, we improve upon the widely-used metric of hop distance (and its variants) for the shortest path bias by introducing a bias based on the link duty cycle, which we predict using a graph convolutional neural network. Numerical results show that our approach can improve the delay performance compared to classical BP and existing BP alternatives based on pre-defined bias while being adaptive to interference density. In terms of complexity, our distributed implementation only introduces a one-time overhead (linear in the number of devices in the network) compared to classical BP, and a constant overhead compared to the lowest-complexity existing bias-based BP algorithms.Comment: 5 pages, 5 figures, submitted to IEEE ICASSP 202

Stable Wireless Network Control Under Service Constraints

We consider the design of wireless queueing network control policies with particular focus on combining stability with additional application-dependent requirements. Thereby, we consequently pursue a cost function based approach that provides the flexibility to incorporate constraints and requirements of particular services or applications. As typical examples of such requirements, we consider the reduction of buffer underflows in case of streaming traffic, and energy efficiency in networks of battery powered nodes. Compared to the classical throughput optimal control problem, such requirements significantly complicate the control problem. We provide easily verifyable theoretical conditions for stability, and, additionally, compare various candidate cost functions applied to wireless networks with streaming media traffic. Moreover, we demonstrate how the framework can be applied to the problem of energy efficient routing, and we demonstrate the aplication of our framework in cross-layer control problems for wireless multihop networks, using an advanced power control scheme for interference mitigation, based on successive convex approximation. In all scenarios, the performance of our control framework is evaluated using extensive numerical simulations.Comment: Accepted for publication in IEEE Transactions on Control of Network Systems. arXiv admin note: text overlap with arXiv:1208.297

An efficient multichannel wireless sensor networks MAC protocol based on IEEE 802.11 distributed co-ordinated function.

This research aimed to create new knowledge and pioneer a path in the area relating to future trends in the WSN, by resolving some of the issues at the MAC layer in Wireless Sensor Networks. This work introduced a Multi-channel Distributed Coordinated Function (MC-DCF) which takes advantage of multi-channel assignment. The backoff algorithm of the IEEE 802.11 distributed coordination function (DCF) was modified to invoke channel switching, based on threshold criteria in order to improve the overall throughput for wireless sensor networks. This work commenced by surveying different protocols: contention-based MAC protocols, transport layer protocols, cross-layered design and multichannel multi-radio assignments. A number of existing protocols were analysed, each attempting to resolve one or more problems faced by the current layers. The 802.15.4 performed very poorly at high data rate and at long range. Therefore 802.15.4 is not suitable for sensor multimedia or surveillance system with streaming data for future multichannel multi-radio systems. A survey on 802.11 DCF - which was designed mainly for wireless networks –supports and confirm that it has a power saving mechanism which is used to synchronise nodes. However it uses a random back-off mechanism that cannot provide deterministic upper bounds on channel access delay and as such cannot support real-time traffic. The weaknesses identified by surveying this protocol form the backbone of this thesis The overall aim for this thesis was to introduce multichannel with single radio as a new paradigm for IEEE 802.11 Distributed Coordinated Function (DCF) in wireless sensor networks (WSNs) that is used in a wide range of applications, from military application, environmental monitoring, medical care, smart buildings and other industry and to extend WSNs with multimedia capability which sense for instance sounds or motion, video sensor which capture video events of interest. Traditionally WSNs do not need high data rate and throughput, since events are normally captured periodically. With the paradigm shift in technology, multimedia streaming has become more demanding than data sensing applications as such the need for high data rate protocol for WSN which is an emerging technology in this area. The IEEE 802.11 can support data rates up to 54Mbps and 802.11 DCF was designed specifically for use in wireless networks. This thesis focused on designing an algorithm that applied multichannel to IEEE 802.11 DCF back-off algorithm to reduce the waiting time of a node and increase throughput when attempting to access the medium. Data collection in WSN tends to suffer from heavy congestion especially nodes nearer to the sink node. Therefore, this thesis proposes a contention based MAC protocol to address this problem from the inspiration of the 802.11 DCF backoff algorithm resulting from a comparison of IEEE 802.11 and IEEE 802.15.4 for Future Green Multichannel Multi-radio Wireless Sensor Networks

Backpressure networks with cooperative link augmentation

We investigate a cross-layer communication technique which jointly lever- ages diversity gain from cooperative communications relaying and optimal throughput characteristics of backpressure networking. In particular, we address the capacity limitations of backpressure networks within fading en- vironments by the retasking of a cooperating node as a relay with potentially heterogeneous transmission architecture. Retasking a node as a cooperative relay can temporally allocate resources of one particular session within the backpressure network onto another session, thereby allowing for a more flex- ible physical (PHY) layer for traffic load balancing. With this, we derive a scheduling method that ensures timely delivery of information in networks without predetermined infrastructure. Within this thesis, we propose the architecture of an amplify-and-forward relay for cooperative communications and derive the performance of multi- ple cooperative nodes utilizing this architecture. We also propose a suitable medium access control (MAC) layer facilitating the scheduling and decision making of nearby relay node candidates. The proposed architecture may be of potential interest for emerging device-to-device (D2D) and swarming mesh networks