Wireless Sensor and Actuator Networks : algorithms and protocols for scalable coordination and data communication

This timely book offers a mixture of theory, experiments, and simulations that provides qualitative and quantitative insights in the field of sensor and actuator networking. The chapters are selected in a way that makes the book comprehensive and self-contained. It covers a wide range of recognized problems in sensor networks, striking a balance between theoretical and practical coverage. The book is appropriate for graduate students and practitioners working as engineers, programmers, and technologists.

Author Notes

AMIYA NAYAK is a Professor at University of Ottawa in the School of Information Technology and Engineering (SITE). His research interests include fault-tolerant computing, distributed systems, and ad hoc and sensor networks. Nayak is the recipient of several collaborative research grants with industry and strategic grants from NSERC. He edited Handbook of Applied Algorithms (Wiley).

IVAN STOJMENOVIC is currently editor in chief of four journals (including IEEE Transactions on Parallel and Distributed Systems ). He has h-index 35 and over 5,000 citations. Stojmenovic was the recipient of the Royal Society Research Merit Award, UK, and the Excellence in Research Award of the University of Ottawa 2008-09. He has chaired and/or organized more than fifty workshops and conferences. He became an IEEE Fellow in 2008.

Hai Liu and Amiya Nayak and Ivan StojmenovicHai Liu and Amiya Nayak and Ivan StojmenovicHai Liu and Amiya Nayak and Ivan StojmenovicHai Liu and Amiya Nayak and Ivan StojmenovicArnaud Casteigts and Amiya Nayak and Ivan StojmenovicXu Li and Amiya Nayak and Ivan StojmenovicArnaud Casteigts and Amiya Nayak and Ivan StojmenovicXu Li and Amiya Nayak and Ivan StojmenovicHai Liu and Veljko Malbasa and Ivan Mezei and Amiya Nayak and Ivan StojmenovicXu Li and Amiya Nayak and David Simplot-Ryl and Ivan Stojmenovic

Preface	p. ix
Contributors	p. xv
1 Applications, Models, Problems, and Solution Strategies	p. 1
1.1 Wireless Sensors	p. 1
1.2 Single-Hop Wireless Sensor Networks	p. 2
1.3 Multihop Wireless Sensor Networks	p. 3
1.4 Event-Driven, Periodic, and On-Demand Reporting	p. 4
1.5 Unit Disk Graph Modeling, Hop Count Metric, and Probabilistic Reception	p. 7
1.6 Adjustable Transmission Range and Power Metric	p. 9
1.7 Cost Metrics	p. 10
1.8 Sleep and Active State Modeling	p. 11
1.9 Architectures for Wireless Sensor and Actuator Networks	p. 12
1.10 Simple Models and Application of Wireless Sensor and Actuator Networks	p. 15
1.11 Generating Connected Wireless Sensor and Actuator Networks	p. 17
1.12 Generating Mobile Wireless Sensor and Actuator Networks	p. 19
1.13 Problems at Physical, MAC, and Transport Layers	p. 19
1.14 Problems at the Network Layer	p. 22
1.15 Localized Protocols as the Solution Framework	p. 25
1.16 Implementation of Sensor Motes	p. 27
1.17 Experiments On Test Beds	p. 28
1.18 Experiences with the Development of Sensor Network Systems	p. 29
References	p. 30
2 Energy-Efficient Backbones and Broadcasting in Sensor and Actuator Networks	p. 33
2.1 Backbones	p. 33
2.2 Grid Partitioning-Based Backbones	p. 35
2.3 Clustering-Based Backbones	p. 36
2.4 Connected Dominating Sets as Backbones	p. 38
2.5 Overview of Broadcasting Techniques	p. 48
2.6 Physical Layer-Based Flooding, Neighbor Detection and Route Discovery	p. 58
2.7 Parameterless Broadcasting for Delay Tolerant-Networks	p. 59
2.8 Backbones and Broadcasting in Sensor-Actuator Networks	p. 61
2.9 RNG and LMST	p. 64
2.10 Minimal Energy Broadcasting	p. 66
References	p. 70
3 Sensor Area Coverage	p. 75
3.1 Problems, Models, and Assumptions	p. 75
3.2 Coverage and Connectivity Criteria	p. 78
3.3 Area-Dominating Set Based Sensor Area Coverage Algorithm	p. 81
3.4 Asynchronous Sensor Area Coverage	p. 83
3.5 Synchronous Sensor Area Coverage	p. 85
3.6 Multicoverage By Sensors	p. 88
3.7 Physical Layer-Based Sensing, Protocols, and Case Studies	p. 89
3.8 Operation Range Assignment in WSANs	p. 90
References	p. 91
4 Geographic Routing in Wireless Sensor and Actuator Networks	p. 95
4.1 Flooding-Based Routing and Georouting in Sensor Networks	p. 96
4.2 Greedy, Projection, and Direction-Based Routing	p. 97
4.3 Applications of Cost to Progress Ratio Framework to Georouting	p. 100
4.4 Memorization-Based Georouting with Guaranteed Delivery	p. 103
4.5 Guaranteed Delivery without Memorization	p. 105
4.6 Beaconless Georouting	p. 114
4.7 Georouting with Virtual and Tree Coordinates	p. 117
4.8 Georouting in Sensor and Actuator Networks	p. 118
4.9 Link Quality Metric in Sensor and Actuator Networks	p. 119
4.10 Physical Layer Aspects and Case Studies of Georouting	p. 120
References	p. 122
5 Multicasting, Geocasting, and Anycasting in Sensor and Actuator Networks	p. 127
5.1 Multicasting	p. 127
5.2 Geocasting with Guaranteed Delivery	p. 134
5.3 Rate-Based Multicasting	p. 143
5.4 Anycasting with Guaranteed Delivery	p. 147
References	p. 150
6 Sink Mobility in Wireless Sensor Networks	p. 153
6.1 Introduction	p. 153
6.2 Energy Hole Problem	p. 155
6.3 Energy Efficiency by Sink Mobility	p. 160
6.4 Sink Mobility in Delay-Tolerant Networks	p. 162
6.5 Sink Mobility in Real-Time Networks	p. 172
References	p. 181
7 Topology Control in Sensor, Actuator, and Mobile Robot Networks	p. 185
7.1 Introduction	p. 185
7.2 General Approaches In Static Sensor Networks	p. 186
7.3 The Minimum Spanning Tree	p. 187
7.4 Data Aggregation	p. 189
7.5 Spanning Trees in Uncontrolled Dynamic Topologies	p. 193
7.6 Detection of Critical Nodes and Links	p. 195
7.7 Biconnected Robot Team Movement for Sensor Deployment	p. 197
7.8 Augmentation Algorithm for Robot Self Deployment	p. 198
7.9 Biconnectivity From Connectivity without Additional Constraints	p. 200
7.10 Biconnectivity from Connectivity with Additional Constraints	p. 203
References	p. 206
8 Location Service in Sensor and Mobile Actuator Networks	p. 209
8.1 Introduction	p. 209
8.2 Classification of Location Services	p. 210
8.3 Location Update Policies	p. 212
8.4 Flooding-Based Algorithms	p. 212
8.5 Quorum-Based Algorithms	p. 219
8.6 Home-Based Approaches	p. 225
References	p. 229
9 Coordination in Sensor, Actuator, and Robot Networks	p. 233
9.1 Sensor-Actuator Coordination	p. 233
9.2 Task Assignment in Multirobot Systems	p. 236
9.3 Selecting Best Robot(s) when Communication Cost is Negligible	p. 238
9.4 Selecting Best Robot(s) with Nonnegligible Communication Costs	p. 240
9.5 Dynamic Task Assignment	p. 244
9.6 Deploying Sensors to Improve Connectivity	p. 245
9.7 Fault-Tolerant Semipassive Coordination Among Actuators	p. 247
9.8 Dispersion of Autonomous Mobile Robots	p. 248
9.9 Distributed Boundary Coverage by Robots	p. 249
9.10 Clustering Robot Swarms	p. 250
9.11 Robot Teams for Exploration and Mapping	p. 251
9.12 Coordinated Actuator Movement for Energy-Efficient Sensor Reporting	p. 252
9.13 Flying Robots	p. 258
References	p. 259
10 Sensor Placement in Sensor and Actuator Networks	p. 263
10.1 Introduction	p. 263
10.2 Movement-Assisted Sensor Placement	p. 264
10.3 Mobile Sensor Migration	p. 265
10.4 Sensor Placement by Actuators	p. 266
10.5 Coverage Maintenance by Actuators	p. 271
10.6 Sensor Self-Deployment	p. 272
10.7 Sensor Relocation	p. 287
References	p. 292
Index	p. 295

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Table of Contents