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 Comprehensive Survey on Routing and Security in Mobile Wireless Sensor Networks

With the continuous advances in mobile wirelesssensor networks (MWSNs), the research community hasresponded to the challenges and constraints in the design of thesenetworks by proposing efficient routing protocols that focus onparticular performance metrics such as residual energy utilization,mobility, topology, scalability, localization, data collection routing,Quality of Service (QoS), etc. In addition, the introduction ofmobility in WSN has brought new challenges for the routing,stability, security, and reliability of WSNs. Therefore, in thisarticle, we present a comprehensive and meticulous investigationin the routing protocols and security challenges in the theory ofMWSNs which was developed in recent years

Context transfer support for mobility management in all-IP networks.

This thesis is a description of the research undertaken in the course of the PhD and evolves around a context transfer protocol which aims to complement and support mobility management in next generation mobile networks. Based on the literature review, it was identified that there is more to mobility management than handover management and the successful change of routing paths. Supportive mechanisms like fast handover, candidate access router discovery and context transfer can significantly contribute towards achieving seamless handover which is especially important in the case of real time services. The work focused on context transfer motivated by the fact that it could offer great benefits to session re-establishment during the handover operation of a mobile user and preliminary testbed observations illustrated the need for achieving this. Context transfer aims to minimize the impact of certain transport, routing, security-related services on the handover performance. When a mobile node (MN) moves to a new subnet it needs to continue such services that have already been established at the previous subnet. Examples of such services include AAA profile, IPsec state, header compression, QoS policy etc. Re-establishing these services at the new subnet will require a considerable amount of time for the protocol exchanges and as a result time- sensitive real-time traffic will suffer during this time. By transferring state to the new domain candidate services will be quickly re-established. This would also contribute to the seamless operation of application streams and could reduce susceptibility to errors. Furthermore, re-initiation to and from the mobile node will be avoided hence wireless bandwidth efficiency will be conserved. In this research an extension to mobility protocols was proposed for supporting state forwarding capabilities. The idea of forwarding states was also explored for remotely reconfiguring middleboxes to avoid any interruption of a mobile users' sessions or services. Finally a context transfer module was proposed to facilitate the integration of such a mechanism in next generation architectures. The proposals were evaluated analytically, via simulations or via testbed implementation depending on the scenario investigated. The results demonstrated that the proposed solutions can minimize the impact of security services like authentication, authorization and firewalls on a mobile user's multimedia sessions and thus improving the overall handover performance

Architectures for the Future Networks and the Next Generation Internet: A Survey

Networking research funding agencies in the USA, Europe, Japan, and other countries are encouraging research on revolutionary networking architectures that may or may not be bound by the restrictions of the current TCP/IP based Internet. We present a comprehensive survey of such research projects and activities. The topics covered include various testbeds for experimentations for new architectures, new security mechanisms, content delivery mechanisms, management and control frameworks, service architectures, and routing mechanisms. Delay/Disruption tolerant networks, which allow communications even when complete end-to-end path is not available, are also discussed

Efficient Passive Clustering and Gateways selection MANETs

Passive clustering does not employ control packets to collect topological information in ad hoc networks. In our proposal, we avoid making frequent changes in cluster architecture due to repeated election and re-election of cluster heads and gateways. Our primary objective has been to make Passive Clustering more practical by employing optimal number of gateways and reduce the number of rebroadcast packets

End to end architecture and mechanisms for mobile and wireless communications in the Internet

Architecture et mécanismes de bout en bout pour les communications mobiles et sans fil dans l'Internet. La gestion performante de la mobilité et l'amélioration des performances des couches basses sont deux enjeux fondamentaux dans le contexte des réseaux sans fil. Cette thèse apporte des solutions originales et innovantes qui visent à répondre à ces deux problématiques empêchant à ce jour d'offrir des possibilités de communication performantes et sans couture aux usagers mobiles accédant à l'Internet via des réseaux d'accès locaux sans fil (WLAN). Ces solutions se distinguent en particulier par l'impact minimum qu'elles ont sur les protocoles standards de l'Internet (niveaux transport et réseau) ou de l'IEEE (niveaux physique et liaison de données). S'inscrivant dans les paradigmes de "bout en bout" et "cross-layer", notre architecture permet d'offrir des solutions efficaces pour la gestion de la mobilité : gestion de la localisation et des handover en particulier. En outre, nous montrons que notre approche permet également d'améliorer l'efficacité des transmissions ainsi que de résoudre efficacement plusieurs syndromes identifiés au sein de 802.11 tels que les anomalies de performance, l'iniquité entre les flux et l'absence de contrôle de débit entre la couche MAC et les couches supérieures. Cette thèse résout ces problèmes en combinant des modèles analytiques, des simulations et de réelles expérimentations. Ces mécanismes adaptatifs ont été développés et intégrés dans une architecture de communication qui fournit des services de communication à haute performance pour réseaux sans fils tels que WIFI et WIMAX. ABSTRACT : Wireless networks, because of the potential pervasive and mobile communication services they offer, are becoming the dominant Internet access networks. However, the legacy Internet protocols, still dominant at that time, have not been designed with mobility and wireless in mind. Therefore, numerous maladjustments and “defaults of impedance” can be observed when combining wireless physical and MAC layers with the traditional upper layers. This thesis proposes several solutions for a pacific coexistence between these communication layers that have been defined and designed independently. Reliable mobility management and Low layer performance enhancements are two main challenging issues in the context of wireless networks. Mobility management (which is mostly based on mobile IP architecture nowadays) aims to continuously assign and control the wireless connections of mobile nodes amongst a space of wireless access networks. Low layer performance enhancements mainly focus on the transmission efficiency such as higher rate, lower loss, interference avoidance. This thesis addresses these two important issues from an original and innovative approach that, conversely to the traditional contributions, entails a minimum impact on the legacy protocols and internet infrastructure. Following the “end to end” and “cross layer” paradigms, we address and offer efficient and light solutions to fast handover, location management and continuous connection support through a space of wireless networks. Moreover, we show that such an approach makes it possible to enhance transmission efficiency and solve efficiently several syndromes that plague the performances of current wireless networks such as performance anomaly, unfairness issues and maladjustment between MAC layer and upper layers. This thesis tackles these issues by combining analytical models, simulations and real experiments. The resulting mechanisms have been developed and integrated into adaptive mobility management communication architecture that delivers high performing communication services to mobile wireless systems, with a focus on WIFI and WIMAX access networks

A policy-based security framework for ad-hoc networks

Imperial Users onl

Walkabout : an asynchronous messaging architecture for mobile devices

Modern mobile devices are prolific producers and consumers of digital data, and wireless networking capabilities enable them to transfer their data over the Internet while moving. Applications running on these devices may perform transfers to upload data for backup or distribution, or to download new content on demand. Unfortunately, the limited connectivity that mobile devices experience can make these transfers slow and impractical as the amount of data increases. This thesis argues that asynchronous messaging supported by local proxies can improve the transfer capabilities of mobile devices, making it practical for them to participate in large Internet transfers. The design of the Walkabout architecture follows this approach: proxies form store-and-forward overlay networks to deliver messages asynchronously across the Internet on behalf of devices. A mobile device uploads a message to a local proxy at rapid speed, and the overlay delivers it to one or more destination devices, caching the message until each one is able to retrieve it from a local proxy. A device is able to partially upload or download a message whenever it has network connectivity, and can resume this transfer at any proxy if interrupted through disconnection. Simulation results show that Walkabout provides better throughput for mobile devices than is possible under existing methods, for a range of movement patterns. Upload and end-to-end to transfer speeds are always high when the device sending the message is mobile. In the basic Walkabout model, a message sent to a mobile device that is repeatedly moving between a small selection of connection points experiences high download and end-to-end transfer speeds, but these speeds fall as the number of connection points grows. Pre-emptive message delivery extensions improve this situation, making fast end-to-end transfers and device downloads possible under any pattern of movement. This thesis describes the design and evaluation of Walkabout, with both practical implementation and extensive simulation under real-world scenarios

Self-management Framework for Mobile Autonomous Systems

The advent of mobile and ubiquitous systems has enabled the development of autonomous systems such as wireless-sensors for environmental data collection and teams of collaborating Unmanned Autonomous Vehicles (UAVs) used in missions unsuitable for humans. However, with these range of new application domains comes a new challenge – enabling self-management in mobile autonomous systems. The primary challenge in using autonomous systems for real-life missions is shifting the burden of management from humans to these systems themselves without loss of the ability to adapt to failures, changes in context, and changing user requirements. Autonomous systems have to be able to manage themselves individually as well as to form self-managing teams that are able to recover or adapt to failures, protect themselves from attacks and optimise performance. This thesis proposes a novel distributed policy-based framework that enables autonomous systems to perform self management individually and as a team. The framework allows missions to be specified in terms of roles in an adaptable and reusable way, enables dynamic and secure team formation with a utility-based approach for optimal role assignment, caters for communication link maintenance among team members and recovery from failure. Adaptive management is achieved by employing an architecture that uses policy-based techniques to allow dynamic modification of the management strategy relating to resources, role behaviour, team and communications management, without reloading the basic software within the system. Evaluation of the framework shows that it is scalable with respect to the number of roles, and consequently the number of autonomous systems participating in the mission. It is also shown to be optimal with respect to role assignments, and robust to intermittent communication link disconnections and permanent team-member failures. The prototype implementation was tested on mobile robots as a proof-ofconcept demonstration

Component-based Adaptation Methods for Service-Oriented Peer-to-Peer Software Architectures

Service-oriented peer-to-peer architectures aim at supporting application scenarios of dispersed collaborating groups in which the participating users are capable of providing and consuming local resources in terms of peer services. From a conceptual perspective, service-oriented peer-to-peer architectures adopt relevant concepts of two well-established state-of-the-art software architectural styles, namely service-oriented architectures (also known as SOA) and peer-to-peer architectures (P2P). One major argumentation of this thesis is that the adoption of end-user adaptability (or tailorability) concepts is of major importance for the successful deployment of service-oriented peer-to-peer architectures that support user collaboration. Since tailorability concepts have so far not been analyzed for both peer-to-peer and service-oriented architectures, no relevant models exist that could serve as a tailorability model for service-oriented peer-to-peer architectures. In order to master the adaptation of peer services, as well as peer service compositions within service-oriented peer-to-peer architectures, this dissertation proposes the adoption of component-oriented development methods. These so-called component-based adaptation methods enable service providers to adapt their provided services during runtime. Here, a model for analyzing existing dependencies on subscribed ser-vice consumers ensures that a service provider is able to adapt his peer services without violating any dependencies. In doing so, an adaptation policy that can be pre-arranged within a peer group regulates the procedures of how to cope with existing dependencies in the scope of a group. The same methods also serve as a way to handle exceptional cases, in particular the failure of a dependent service provider peer and, hence, a service that is part of a local service composition. In this, the hosting runtime environment is responsible for detecting exceptions and for initiating the process of exception resolution. During the resolution phase, a user can be actively involved at selected decision points in order to resolve the occurred exception in unpredictable contexts. An exception could also be the reason for the violation of an integrity constraint that serves as a contract between various peers that interact within a given collaboration. The notion of integrity constraints and the model of handling the constraint violation aim at improving the reliability of target-oriented peer collaborations. This dissertation is composed of three major parts that each makes a significant contribution to the state of the art. First of all, a formal architectural style (SOP2PA) is introduced to define the fundamental elements that are necessary to build service-oriented peer-to-peer architectures, as well as their relationships, constraints, and operational semantics. This architectural style also formalizes the above-mentioned adaptation methods, the exception handling model that embraces these methods, the analysis model for managing consumer dependencies, as well as the integrity constraints model. Subsequently, on this formal basis, a concrete (specific) service-oriented peer-to-peer architecture (DEEVOLVE) is conceptualized that serves as the default implementation of that style. Here, the notions described above are materialized based on state-of-the-art software engineering methods and models. Finally, the third contribution of this work outlines an application scenario stemming from the area of construction informatics, in which the default implementation DEEVOLVE is deployed in order to support dispersed planning activities of structural engineers