Wireless Sensor and Actuator Networks: Algorithms and Protocols for Scalable Coordination and Data Communication

Wireless Sensor and Actuator Networks......Page 3
Contents......Page 7
Preface......Page 11
ACKNOWLEDGMENTS......Page 16
Contributors......Page 17
1.1. Wireless Sensors......Page 19
1.2. Single-Hop Wireless Sensor Networks......Page 20
1.3. Multihop Wireless Sensor Networks......Page 21
1.4. Event-Driven, Periodic, and On-Demand Reporting......Page 22
1.5. Unit Disk Graph Modeling, Hop Count Metric, and Probabilistic Reception......Page 25
1.6. Adjustable Transmission Range and Power Metric......Page 27
1.7. Cost Metrics......Page 28
1.8. Sleep and Active State Modeling......Page 29
1.9. Architectures for Wireless Sensor and Actuator Networks......Page 30
1.10. Simple Models and Application of Wireless Sensor and Actuator Networks......Page 33
1.11. Generating Connected Wireless Sensor and Actuator Networks......Page 35
1.13. Problems at Physical, MAC, and Transport Layers......Page 37
1.14. Problems at the Network Layer......Page 40
1.15. Localized Protocols as the Solution Framework......Page 43
1.16. Implementation of Sensor Motes......Page 45
1.17. Experiments On Test Beds......Page 46
1.18. Experiences with the Development of Sensor Network Systems......Page 47
References......Page 48
2.1. Backbones......Page 51
2.2. Grid Partitioning-Based Backbones......Page 53
2.3. Clustering-Based Backbones......Page 54
2.4. Connected Dominating Sets as Backbones......Page 56
2.5. Overview of Broadcasting Techniques......Page 66
2.6. Physical Layer-Based Flooding, Neighbor Detection and Route Discovery......Page 76
2.7. Parameterless Broadcasting for Delay Tolerant-Networks......Page 77
2.8. Backbones and Broadcasting in Sensor–Actuator Networks......Page 79
2.9. RNG and LMST......Page 82
2.10. Minimal Energy Broadcasting......Page 84
References......Page 88
3.1. Problems, Models, and Assumptions......Page 93
3.2. Coverage and Connectivity Criteria......Page 96
3.3. Area-Dominating Set Based Sensor Area Coverage Algorithm......Page 99
3.4. Asynchronous Sensor Area Coverage......Page 101
3.5. Synchronous Sensor Area Coverage......Page 103
3.6. Multicoverage By Sensors......Page 106
3.7. Physical Layer-Based Sensing, Protocols, and Case Studies......Page 107
3.8. Operation Range Assignment in WSANs......Page 108
References......Page 109
4. Geographic Routing in Wireless Sensor and Actuator Networks......Page 113
4.1. Flooding-Based Routing and Georouting in Sensor Networks......Page 114
4.2. Greedy, Projection, and Direction-Based Routing......Page 115
4.3. Applications of Cost to Progress Ratio Framework to Georouting......Page 118
4.4. Memorization-Based Georouting with Guaranteed Delivery......Page 121
4.5. Guaranteed Delivery without Memorization......Page 123
4.6. Beaconless Georouting......Page 132
4.7. Georouting with Virtual and Tree Coordinates......Page 135
4.8. Georouting in Sensor and Actuator Networks......Page 136
4.9. Link Quality Metric in Sensor and Actuator Networks......Page 137
4.10. Physical Layer Aspects and Case Studies of Georouting......Page 138
References......Page 140
5.1. Multicasting......Page 145
5.2. Geocasting with Guaranteed Delivery......Page 152
5.3. Rate-Based Multicasting......Page 161
5.4. Anycasting with Guaranteed Delivery......Page 165
References......Page 168
6.1. Introduction......Page 171
6.2. Energy Hole Problem......Page 173
6.3. Energy Efficiency by Sink Mobility......Page 178
6.4. Sink Mobility in Delay-Tolerant Networks......Page 180
6.5. Sink Mobility in Real-Time Networks......Page 190
References......Page 199
7.1. Introduction......Page 203
7.2. General Approaches In Static Sensor Networks......Page 204
7.3. The Minimum Spanning Tree......Page 205
7.4. Data Aggregation......Page 207
7.5. Spanning Trees in Uncontrolled Dynamic Topologies......Page 211
7.6. Detection of Critical Nodes and Links......Page 213
7.7. Biconnected Robot Team Movement for Sensor Deployment......Page 215
7.8. Augmentation Algorithm for Robot Self Deployment......Page 216
7.9. Biconnectivity From Connectivity without Additional Constraints......Page 218
7.10. Biconnectivity from Connectivity with Additional Constraints......Page 221
References......Page 224
8.1. Introduction......Page 227
8.2. Classification of Location Services......Page 228
8.4. Flooding-Based Algorithms......Page 230
8.5. Quorum-Based Algorithms......Page 237
8.6. Home-Based Approaches......Page 243
References......Page 247
9.1. Sensor-Actuator Coordination......Page 251
9.2. Task Assignment in Multirobot Systems......Page 254
9.3. Selecting Best Robot(s) when Communication Cost is Negligible......Page 256
9.4. Selecting Best Robot(s) with Nonnegligible Communication Costs......Page 258
9.5. Dynamic Task Assignment......Page 262
9.6. Deploying Sensors to Improve Connectivity......Page 263
9.7. Fault-Tolerant Semipassive Coordination Among Actuators......Page 265
9.8. Dispersion of Autonomous Mobile Robots......Page 266
9.9. Distributed Boundary Coverage by Robots......Page 267
9.10. Clustering Robot Swarms......Page 268
9.11. Robot Teams for Exploration and Mapping......Page 269
9.12. Coordinated Actuator Movement for Energy-Efficient Sensor Reporting......Page 270
9.13. Flying Robots......Page 276
References......Page 277
10.1. Introduction......Page 281
10.2. Movement-Assisted Sensor Placement......Page 282
10.3. Mobile Sensor Migration......Page 283
10.4. Sensor Placement by Actuators......Page 284
10.5. Coverage Maintenance by Actuators......Page 289
10.6. Sensor Self-Deployment......Page 290
10.7. Sensor Relocation......Page 305
References......Page 310
Index......Page 313