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

Patia: Adaptive distributed webserver (A position paper)

This paper introduces the Patia Adaptive Webserver architecture, which is distributed and consists of semi-autonomous agents called FLYs. The FLY carries with it the set of rules and adaptivity policies required to deliver the data to the requesting client. Where a change in the FLY’s external environment could affect performance, it is the FLY’s responsibility to change the method of delivery (or the actual object being delivered). It is our conjecture that the success of today’s multimedia websites in terms of performance lies in the architecture of the underlying servers and their ability to adapt to changes in demand and resource availability, as well as their ability to scale. We believe that the distributed and autonomous nature of this system are key factors in achieving this.

Search strategies in unstructured overlays

Trabalho de projecto de mestrado em Engenharia Informática, apresentado à Universidade de Lisboa, através da Faculdade de Ciências, 2008Unstructured peer-to-peer networks have a low maintenance cost, high resilience and tolerance to the continuous arrival and departure of nodes. In these networks search is usually performed by flooding, which generates a high number of duplicate messages. To improve scalability, unstructured overlays evolved to a two-tiered architecture where regular nodes rely on special nodes, called supernodes or superpeers, to locate resources, thus reducing the scope of flooding based searches. While this approach takes advantage of node heterogeneity, it makes the overlay less resilient to accidental and malicious faults, and less attractive to users concerned with the consumption of their resources and who may not desire to commit additional resources that are required by nodes selected as superpeers. Another point of concern is churn, defined as the constant entry and departure of nodes. Churn affects both structured and unstructured overlay networks and, in order to build resilient search protocols, it must be taken into account. This dissertation proposes a novel search algorithm, called FASE, which combines a replication policy and a search space division technique to achieve low hop counts using a small number of messages, on unstructured overlays with nonhierarquical topologies. The problem of churn is mitigated by a distributed monitoring algorithm designed with FASE in mind. Simulation results validate FASE efficiency when compared to other search algorithms for peer-to-peer networks. The evaluation of the distributed monitoring algorithm shows that it maintains FASE performance when subjected to churn.Os sistemas peer-to-peer, como aplicações de partilha e distribuição de conteúdos ou voz-sobre-IP, são construídos sobre redes sobrepostas. Redes sobrepostas são redes virtuais que existem sobre uma rede subjacente, em que a topologia da rede sobreposta não tem de ter uma correspondência com a topologia da rede subjacente. Ao contrário das suas congéneres estruturadas, as redes sobrepostas não-estru-turadas não restringem a localização dos seus participantes, ou seja, não limitam a escolha de vizinhos de um dado nó, o que torna a sua manutenção mais simples. O baixo custo de manutenção das redes sobrepostas não-estruturadas torna estas especialmente adequadas para a construção de sistemas peer-to-peer capazes de tolerar o comportamento dinâmico dos seus participantes, uma vez que estas redes são permanentemente afectadas pela entrada e saída de nós na rede, um fénomeno conhecido como churn. O algoritmo de pesquisa mais comum em redes sobrepostas não-estruturadas consiste em inundar a rede, o que origina uma grande quantidade de mensagens duplicadas por cada pesquisa. A escalabilidade destes algoritmos é limitada porque consomem demasiados recursos da rede em sistemas com muitos participantes. Para reduzir o número de mensagens, as redes sobrepostas não-estruturadas podem ser organizadas em topologias hierárquicas. Nestas topologias alguns nós da rede, chamados supernós, assumem um papel mais importante, responsabilizando-se pela localização de objectos. A utilização de supernós cria novos problemas, como a sua selecção e a dependência da rede de uma pequena percentagem dos nós. Esta dissertação apresenta um novo algoritmo de pesquisa, chamado FASE, criado para operar sobre redes sobrepostas não estruturadas com topologias não-hierárquicas. Este algoritmo combina uma política de replicação com uma técnica de divisão do espaço de procura para resolver pesquisas ao alcançe de um número reduzido de saltos com o menor custo possível. Adicionalmente, o algoritmo procura nivelar a contribuição dos participantes, já que todos contribuem de uma forma semelhante para o desempenho da pesquisa. A estratégia seguida pelo algo- ritmo consiste em dividir tanto os nós da rede como as chaves dos seus conteúdos por diferentes “frequências” e replicar chaves nas respectivas frequências, sem, no entanto, limitar a localização de um nó ou impor uma estrutura à rede ou mesmo aplicar uma definição rígida de chave. Com o objectivo de mitigar o problema do churn, é apresentado um algoritmo de monitorização distribuído para as réplicas originadas pelo FASE. Os algoritmos propostos são avaliados através de simulações, que validam a eficiência do FASE quando comparado com outros algoritmos de pesquisa em redes sobrepostas não-estruturadas. É também demonstrado que o FASE mantém o seu desempenho em redes sob o efeito do churn quando combinado com o algoritmo de monitorização

Self-management for large-scale distributed systems

Autonomic computing aims at making computing systems self-managing by using autonomic managers in order to reduce obstacles caused by management complexity. This thesis presents results of research on self-management for large-scale distributed systems. This research was motivated by the increasing complexity of computing systems and their management. In the first part, we present our platform, called Niche, for programming self-managing component-based distributed applications. In our work on Niche, we have faced and addressed the following four challenges in achieving self-management in a dynamic environment characterized by volatile resources and high churn: resource discovery, robust and efficient sensing and actuation, management bottleneck, and scale. We present results of our research on addressing the above challenges. Niche implements the autonomic computing architecture, proposed by IBM, in a fully decentralized way. Niche supports a network-transparent view of the system architecture simplifying the design of distributed self-management. Niche provides a concise and expressive API for self-management. The implementation of the platform relies on the scalability and robustness of structured overlay networks. We proceed by presenting a methodology for designing the management part of a distributed self-managing application. We define design steps that include partitioning of management functions and orchestration of multiple autonomic managers. In the second part, we discuss robustness of management and data consistency, which are necessary in a distributed system. Dealing with the effect of churn on management increases the complexity of the management logic and thus makes its development time consuming and error prone. We propose the abstraction of Robust Management Elements, which are able to heal themselves under continuous churn. Our approach is based on replicating a management element using finite state machine replication with a reconfigurable replica set. Our algorithm automates the reconfiguration (migration) of the replica set in order to tolerate continuous churn. For data consistency, we propose a majority-based distributed key-value store supporting multiple consistency levels that is based on a peer-to-peer network. The store enables the tradeoff between high availability and data consistency. Using majority allows avoiding potential drawbacks of a master-based consistency control, namely, a single-point of failure and a potential performance bottleneck. In the third part, we investigate self-management for Cloud-based storage systems with the focus on elasticity control using elements of control theory and machine learning. We have conducted research on a number of different designs of an elasticity controller, including a State-Space feedback controller and a controller that combines feedback and feedforward control. We describe our experience in designing an elasticity controller for a Cloud-based key-value store using state-space model that enables to trade-off performance for cost. We describe the steps in designing an elasticity controller. We continue by presenting the design and evaluation of ElastMan, an elasticity controller for Cloud-based elastic key-value stores that combines feedforward and feedback control