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

Model the System from Adversary Viewpoint: Threats Identification and Modeling

Security attacks are hard to understand, often expressed with unfriendly and limited details, making it difficult for security experts and for security analysts to create intelligible security specifications. For instance, to explain Why (attack objective), What (i.e., system assets, goals, etc.), and How (attack method), adversary achieved his attack goals. We introduce in this paper a security attack meta-model for our SysML-Sec framework, developed to improve the threat identification and modeling through the explicit representation of security concerns with knowledge representation techniques. Our proposed meta-model enables the specification of these concerns through ontological concepts which define the semantics of the security artifacts and introduced using SysML-Sec diagrams. This meta-model also enables representing the relationships that tie several such concepts together. This representation is then used for reasoning about the knowledge introduced by system designers as well as security experts through the graphical environment of the SysML-Sec framework.Comment: In Proceedings AIDP 2014, arXiv:1410.322

Sparse Signal Processing Concepts for Efficient 5G System Design

As it becomes increasingly apparent that 4G will not be able to meet the emerging demands of future mobile communication systems, the question what could make up a 5G system, what are the crucial challenges and what are the key drivers is part of intensive, ongoing discussions. Partly due to the advent of compressive sensing, methods that can optimally exploit sparsity in signals have received tremendous attention in recent years. In this paper we will describe a variety of scenarios in which signal sparsity arises naturally in 5G wireless systems. Signal sparsity and the associated rich collection of tools and algorithms will thus be a viable source for innovation in 5G wireless system design. We will discribe applications of this sparse signal processing paradigm in MIMO random access, cloud radio access networks, compressive channel-source network coding, and embedded security. We will also emphasize important open problem that may arise in 5G system design, for which sparsity will potentially play a key role in their solution.Comment: 18 pages, 5 figures, accepted for publication in IEEE Acces

Adoption of vehicular ad hoc networking protocols by networked robots

This paper focuses on the utilization of wireless networking in the robotics domain. Many researchers have already equipped their robots with wireless communication capabilities, stimulated by the observation that multi-robot systems tend to have several advantages over their single-robot counterparts. Typically, this integration of wireless communication is tackled in a quite pragmatic manner, only a few authors presented novel Robotic Ad Hoc Network (RANET) protocols that were designed specifically with robotic use cases in mind. This is in sharp contrast with the domain of vehicular ad hoc networks (VANET). This observation is the starting point of this paper. If the results of previous efforts focusing on VANET protocols could be reused in the RANET domain, this could lead to rapid progress in the field of networked robots. To investigate this possibility, this paper provides a thorough overview of the related work in the domain of robotic and vehicular ad hoc networks. Based on this information, an exhaustive list of requirements is defined for both types. It is concluded that the most significant difference lies in the fact that VANET protocols are oriented towards low throughput messaging, while RANET protocols have to support high throughput media streaming as well. Although not always with equal importance, all other defined requirements are valid for both protocols. This leads to the conclusion that cross-fertilization between them is an appealing approach for future RANET research. To support such developments, this paper concludes with the definition of an appropriate working plan

Algorithms for Constructing Overlay Networks For Live Streaming

We present a polynomial time approximation algorithm for constructing an overlay multicast network for streaming live media events over the Internet. The class of overlay networks constructed by our algorithm include networks used by Akamai Technologies to deliver live media events to a global audience with high fidelity. We construct networks consisting of three stages of nodes. The nodes in the first stage are the entry points that act as sources for the live streams. Each source forwards each of its streams to one or more nodes in the second stage that are called reflectors. A reflector can split an incoming stream into multiple identical outgoing streams, which are then sent on to nodes in the third and final stage that act as sinks and are located in edge networks near end-users. As the packets in a stream travel from one stage to the next, some of them may be lost. A sink combines the packets from multiple instances of the same stream (by reordering packets and discarding duplicates) to form a single instance of the stream with minimal loss. Our primary contribution is an algorithm that constructs an overlay network that provably satisfies capacity and reliability constraints to within a constant factor of optimal, and minimizes cost to within a logarithmic factor of optimal. Further in the common case where only the transmission costs are minimized, we show that our algorithm produces a solution that has cost within a factor of 2 of optimal. We also implement our algorithm and evaluate it on realistic traces derived from Akamai's live streaming network. Our empirical results show that our algorithm can be used to efficiently construct large-scale overlay networks in practice with near-optimal cost