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

Modelling the Spread of Botnet Malware in IoT-Based Wireless Sensor Networks

The propagation approach of a botnet largely dictates its formation, establishing a foundation of bots for future exploitation. The chosen propagation method determines the attack surface, and consequently, the degree of network penetration, as well as the overall size and the eventual attack potency. It is therefore essential to understand propagation behaviours and influential factors in order to better secure vulnerable systems. Whilst botnet propagation is generally well-studied, newer technologies like IoT have unique characteristics which are yet to be thoroughly explored. In this paper, we apply the principles of epidemic modelling to IoT networks consisting of wireless sensor nodes. We build IoT-SIS, a novel propagation model which considers the impact of IoT-specific characteristics like limited processing power, energy restrictions, and node density on the formation of a botnet. Focusing on worm-based propagation, this model is used to explore the dynamics of spread using numerical simulations and the Monte Carlo method, and to discuss the real-life implications of our findings

Networking - A Statistical Physics Perspective

Efficient networking has a substantial economic and societal impact in a broad range of areas including transportation systems, wired and wireless communications and a range of Internet applications. As transportation and communication networks become increasingly more complex, the ever increasing demand for congestion control, higher traffic capacity, quality of service, robustness and reduced energy consumption require new tools and methods to meet these conflicting requirements. The new methodology should serve for gaining better understanding of the properties of networking systems at the macroscopic level, as well as for the development of new principled optimization and management algorithms at the microscopic level. Methods of statistical physics seem best placed to provide new approaches as they have been developed specifically to deal with non-linear large scale systems. This paper aims at presenting an overview of tools and methods that have been developed within the statistical physics community and that can be readily applied to address the emerging problems in networking. These include diffusion processes, methods from disordered systems and polymer physics, probabilistic inference, which have direct relevance to network routing, file and frequency distribution, the exploration of network structures and vulnerability, and various other practical networking applications.Comment: (Review article) 71 pages, 14 figure

Performance Modelling and Optimisation of Multi-hop Networks

A major challenge in the design of large-scale networks is to predict and optimise the total time and energy consumption required to deliver a packet from a source node to a destination node. Examples of such complex networks include wireless ad hoc and sensor networks which need to deal with the effects of node mobility, routing inaccuracies, higher packet loss rates, limited or time-varying effective bandwidth, energy constraints, and the computational limitations of the nodes. They also include more reliable communication environments, such as wired networks, that are susceptible to random failures, security threats and malicious behaviours which compromise their quality of service (QoS) guarantees. In such networks, packets traverse a number of hops that cannot be determined in advance and encounter non-homogeneous network conditions that have been largely ignored in the literature. This thesis examines analytical properties of packet travel in large networks and investigates the implications of some packet coding techniques on both QoS and resource utilisation. Specifically, we use a mixed jump and diffusion model to represent packet traversal through large networks. The model accounts for network non-homogeneity regarding routing and the loss rate that a packet experiences as it passes successive segments of a source to destination route. A mixed analytical-numerical method is developed to compute the average packet travel time and the energy it consumes. The model is able to capture the effects of increased loss rate in areas remote from the source and destination, variable rate of advancement towards destination over the route, as well as of defending against malicious packets within a certain distance from the destination. We then consider sending multiple coded packets that follow independent paths to the destination node so as to mitigate the effects of losses and routing inaccuracies. We study a homogeneous medium and obtain the time-dependent properties of the packet’s travel process, allowing us to compare the merits and limitations of coding, both in terms of delivery times and energy efficiency. Finally, we propose models that can assist in the analysis and optimisation of the performance of inter-flow network coding (NC). We analyse two queueing models for a router that carries out NC, in addition to its standard packet routing function. The approach is extended to the study of multiple hops, which leads to an optimisation problem that characterises the optimal time that packets should be held back in a router, waiting for coding opportunities to arise, so that the total packet end-to-end delay is minimised

Supporting Cyber-Physical Systems with Wireless Sensor Networks: An Outlook of Software and Services

Sensing, communication, computation and control technologies are the essential building blocks of a cyber-physical system (CPS). Wireless sensor networks (WSNs) are a way to support CPS as they provide fine-grained spatial-temporal sensing, communication and computation at a low premium of cost and power. In this article, we explore the fundamental concepts guiding the design and implementation of WSNs. We report the latest developments in WSN software and services for meeting existing requirements and newer demands; particularly in the areas of: operating system, simulator and emulator, programming abstraction, virtualization, IP-based communication and security, time and location, and network monitoring and management. We also reflect on the ongoing efforts in providing dependable assurances for WSN-driven CPS. Finally, we report on its applicability with a case-study on smart buildings

A contrasting look at self-organization in the Internet and next-generation communication networks

This article examines contrasting notions of self-organization in the Internet and next-generation communication networks, by reviewing in some detail recent evidence regarding several of the more popular attempts to explain prominent features of Internet structure and behavior as "emergent phenomena." In these examples, what might appear to the nonexpert as "emergent self-organization" in the Internet actually results from well conceived (albeit perhaps ad hoc) design, with explanations that are mathematically rigorous, in agreement with engineering reality, and fully consistent with network measurements. These examples serve as concrete starting points from which networking researchers can assess whether or not explanations involving self-organization are relevant or appropriate in the context of next-generation communication networks, while also highlighting the main differences between approaches to self-organization that are rooted in engineering design vs. those inspired by statistical physics

Renormalization group theory for percolation in time-varying networks

Motivated by multi-hop communication in unreliable wireless networks, we present a percolation theory for time-varying networks. We develop a renormalization group theory for a prototypical network on a regular grid, where individual links switch stochastically between active and inactive states. The question whether a given source node can communicate with a destination node along paths of active links is equivalent to a percolation problem. Our theory maps the temporal existence of multi-hop paths on an effective two-state Markov process. We show analytically how this Markov process converges towards a memory-less Bernoulli process as the hop distance between source and destination node increases. Our work extends classical percolation theory to the dynamic case and elucidates temporal correlations of message losses. Quantification of temporal correlations has implications for the design of wireless communication and control protocols, e.g. in cyber-physical systems such as self-organized swarms of drones or smart traffic networks.Comment: 8 pages, 3 figure