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

Routing on the Channel Dependency Graph:: A New Approach to Deadlock-Free, Destination-Based, High-Performance Routing for Lossless Interconnection Networks

In the pursuit for ever-increasing compute power, and with Moore's law slowly coming to an end, high-performance computing started to scale-out to larger systems. Alongside the increasing system size, the interconnection network is growing to accommodate and connect tens of thousands of compute nodes. These networks have a large influence on total cost, application performance, energy consumption, and overall system efficiency of the supercomputer. Unfortunately, state-of-the-art routing algorithms, which define the packet paths through the network, do not utilize this important resource efficiently. Topology-aware routing algorithms become increasingly inapplicable, due to irregular topologies, which either are irregular by design, or most often a result of hardware failures. Exchanging faulty network components potentially requires whole system downtime further increasing the cost of the failure. This management approach becomes more and more impractical due to the scale of today's networks and the accompanying steady decrease of the mean time between failures. Alternative methods of operating and maintaining these high-performance interconnects, both in terms of hardware- and software-management, are necessary to mitigate negative effects experienced by scientific applications executed on the supercomputer. However, existing topology-agnostic routing algorithms either suffer from poor load balancing or are not bounded in the number of virtual channels needed to resolve deadlocks in the routing tables. Using the fail-in-place strategy, a well-established method for storage systems to repair only critical component failures, is a feasible solution for current and future HPC interconnects as well as other large-scale installations such as data center networks. Although, an appropriate combination of topology and routing algorithm is required to minimize the throughput degradation for the entire system. This thesis contributes a network simulation toolchain to facilitate the process of finding a suitable combination, either during system design or while it is in operation. On top of this foundation, a key contribution is a novel scheduling-aware routing, which reduces fault-induced throughput degradation while improving overall network utilization. The scheduling-aware routing performs frequent property preserving routing updates to optimize the path balancing for simultaneously running batch jobs. The increased deployment of lossless interconnection networks, in conjunction with fail-in-place modes of operation and topology-agnostic, scheduling-aware routing algorithms, necessitates new solutions to solve the routing-deadlock problem. Therefore, this thesis further advances the state-of-the-art by introducing a novel concept of routing on the channel dependency graph, which allows the design of an universally applicable destination-based routing capable of optimizing the path balancing without exceeding a given number of virtual channels, which are a common hardware limitation. This disruptive innovation enables implicit deadlock-avoidance during path calculation, instead of solving both problems separately as all previous solutions

Distributed Detection and Estimation in Wireless Sensor Networks

In this article we consider the problems of distributed detection and estimation in wireless sensor networks. In the first part, we provide a general framework aimed to show how an efficient design of a sensor network requires a joint organization of in-network processing and communication. Then, we recall the basic features of consensus algorithm, which is a basic tool to reach globally optimal decisions through a distributed approach. The main part of the paper starts addressing the distributed estimation problem. We show first an entirely decentralized approach, where observations and estimations are performed without the intervention of a fusion center. Then, we consider the case where the estimation is performed at a fusion center, showing how to allocate quantization bits and transmit powers in the links between the nodes and the fusion center, in order to accommodate the requirement on the maximum estimation variance, under a constraint on the global transmit power. We extend the approach to the detection problem. Also in this case, we consider the distributed approach, where every node can achieve a globally optimal decision, and the case where the decision is taken at a central node. In the latter case, we show how to allocate coding bits and transmit power in order to maximize the detection probability, under constraints on the false alarm rate and the global transmit power. Then, we generalize consensus algorithms illustrating a distributed procedure that converges to the projection of the observation vector onto a signal subspace. We then address the issue of energy consumption in sensor networks, thus showing how to optimize the network topology in order to minimize the energy necessary to achieve a global consensus. Finally, we address the problem of matching the topology of the network to the graph describing the statistical dependencies among the observed variables.Comment: 92 pages, 24 figures. To appear in E-Reference Signal Processing, R. Chellapa and S. Theodoridis, Eds., Elsevier, 201

A Socio-inspired CALM Approach to Channel Assignment Performance Prediction and WMN Capacity Estimation

A significant amount of research literature is dedicated to interference mitigation in Wireless Mesh Networks (WMNs), with a special emphasis on designing channel allocation (CA) schemes which alleviate the impact of interference on WMN performance. But having countless CA schemes at one's disposal makes the task of choosing a suitable CA for a given WMN extremely tedious and time consuming. In this work, we propose a new interference estimation and CA performance prediction algorithm called CALM, which is inspired by social theory. We borrow the sociological idea of a "sui generis" social reality, and apply it to WMNs with significant success. To achieve this, we devise a novel Sociological Idea Borrowing Mechanism that facilitates easy operationalization of sociological concepts in other domains. Further, we formulate a heuristic Mixed Integer Programming (MIP) model called NETCAP which makes use of link quality estimates generated by CALM to offer a reliable framework for network capacity prediction. We demonstrate the efficacy of CALM by evaluating its theoretical estimates against experimental data obtained through exhaustive simulations on ns-3 802.11g environment, for a comprehensive CA test-set of forty CA schemes. We compare CALM with three existing interference estimation metrics, and demonstrate that it is consistently more reliable. CALM boasts of accuracy of over 90% in performance testing, and in stress testing too it achieves an accuracy of 88%, while the accuracy of other metrics drops to under 75%. It reduces errors in CA performance prediction by as much as 75% when compared to other metrics. Finally, we validate the expected network capacity estimates generated by NETCAP, and show that they are quite accurate, deviating by as low as 6.4% on an average when compared to experimentally recorded results in performance testing

Interference Alignment for Cognitive Radio Communications and Networks: A Survey

© 2019 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).Interference alignment (IA) is an innovative wireless transmission strategy that has shown to be a promising technique for achieving optimal capacity scaling of a multiuser interference channel at asymptotically high-signal-to-noise ratio (SNR). Transmitters exploit the availability of multiple signaling dimensions in order to align their mutual interference at the receivers. Most of the research has focused on developing algorithms for determining alignment solutions as well as proving interference alignment’s theoretical ability to achieve the maximum degrees of freedom in a wireless network. Cognitive radio, on the other hand, is a technique used to improve the utilization of the radio spectrum by opportunistically sensing and accessing unused licensed frequency spectrum, without causing harmful interference to the licensed users. With the increased deployment of wireless services, the possibility of detecting unused frequency spectrum becomes diminished. Thus, the concept of introducing interference alignment in cognitive radio has become a very attractive proposition. This paper provides a survey of the implementation of IA in cognitive radio under the main research paradigms, along with a summary and analysis of results under each system model.Peer reviewe