Distributed algorithms for guiding navigation across a sensor network

We develop distributed algorithms for self-organizing sensor networks that respond to directing a target through a region. The sensor network models the danger levels sensed across its area and has the ability to adapt to changes. It represents the dangerous areas as obstacles. A protocol that combines the artificial potential field of the sensors with the goal location for the moving object guides the object incrementally across the network to the goal, while maintaining the safest distance to the danger areas. We give the analysis to the protocol and report on hardware experiments using a physical sensor network consisting of Mote sensors.

[1]  Robert Tappan Morris,et al.  Span: An Energy-Efficient Coordination Algorithm for Topology Maintenance in Ad Hoc Wireless Networks , 2001, MobiCom '01.

[2]  Nitin H. Vaidya,et al.  Location-aided routing (LAR) in mobile ad hoc networks , 1998, MobiCom '98.

[3]  Deborah Estrin,et al.  Directed diffusion: a scalable and robust communication paradigm for sensor networks , 2000, MobiCom '00.

[4]  Radhika Nagpal,et al.  Organizing a Global Coordinate System from Local Information on an Ad Hoc Sensor Network , 2003, IPSN.

[5]  Feng Zhao,et al.  Information-Driven Dynamic Sensor Collaboration for Tracking Applications , 2002 .

[6]  J. J. Garcia-Luna-Aceves,et al.  An efficient routing protocol for wireless networks , 1996, Mob. Networks Appl..

[7]  Qun Li,et al.  Sending messages to mobile users in disconnected ad-hoc wireless networks , 2000, MobiCom '00.

[8]  Charles E. Perkins,et al.  Highly dynamic Destination-Sequenced Distance-Vector routing (DSDV) for mobile computers , 1994, SIGCOMM.

[9]  Haiyun Luo,et al.  A two-tier data dissemination model for large-scale wireless sensor networks , 2002, MobiCom '02.

[10]  David E. Culler,et al.  System architecture directions for networked sensors , 2000, SIGP.

[11]  Li Li,et al.  Distributed topology control for power efficient operation in multihop wireless ad hoc networks , 2001, Proceedings IEEE INFOCOM 2001. Conference on Computer Communications. Twentieth Annual Joint Conference of the IEEE Computer and Communications Society (Cat. No.01CH37213).

[12]  Mani B. Srivastava,et al.  Dynamic fine-grained localization in Ad-Hoc networks of sensors , 2001, MobiCom '01.

[13]  Parameswaran Ramanathan,et al.  Connectivity based location estimation scheme for wireless ad hoc networks , 2002, Global Telecommunications Conference, 2002. GLOBECOM '02. IEEE.

[14]  Gregory J. Pottie,et al.  Wireless integrated network sensors , 2000, Commun. ACM.

[15]  Gregory J. Pottie,et al.  Protocols for self-organization of a wireless sensor network , 2000, IEEE Wirel. Commun..

[16]  Deborah Estrin,et al.  Embedding the Internet , 2000 .

[17]  Charles E. Perkins,et al.  Performance comparison of two on-demand routing protocols for ad hoc networks , 2001, IEEE Wirel. Commun..

[18]  Leandros Tassiulas,et al.  Energy conserving routing in wireless ad-hoc networks , 2000, Proceedings IEEE INFOCOM 2000. Conference on Computer Communications. Nineteenth Annual Joint Conference of the IEEE Computer and Communications Societies (Cat. No.00CH37064).

[19]  Qun Li,et al.  Communication in disconnected ad hoc networks using message relay , 2003, J. Parallel Distributed Comput..

[20]  Robert Szewczyk,et al.  System architecture directions for networked sensors , 2000, ASPLOS IX.

[21]  Deborah Estrin,et al.  Complex Behavior at Scale: An Experimental Study of Low-Power Wireless Sensor Networks , 2002 .

[22]  David A. Maltz,et al.  Dynamic Source Routing in Ad Hoc Wireless Networks , 1994, Mobidata.

[23]  Jonathan R. Agre,et al.  An Integrated Architecture for Cooperative Sensing Networks , 2000, Computer.

[24]  Feng Zhao,et al.  Scalable Information-Driven Sensor Querying and Routing for Ad Hoc Heterogeneous Sensor Networks , 2002, Int. J. High Perform. Comput. Appl..

[25]  Qun Li,et al.  Three power-aware routing algorithms for sensor networks , 2003, Wirel. Commun. Mob. Comput..

[26]  Satish Kumar,et al.  Next century challenges: scalable coordination in sensor networks , 1999, MobiCom.

[27]  Qun Li,et al.  Online power-aware routing in wireless Ad-hoc networks , 2001, MobiCom '01.

[28]  Elizabeth M. Belding-Royer,et al.  A review of current routing protocols for ad hoc mobile wireless networks , 1999, IEEE Wirel. Commun..

[29]  Deborah Estrin,et al.  An energy-efficient MAC protocol for wireless sensor networks , 2002, Proceedings.Twenty-First Annual Joint Conference of the IEEE Computer and Communications Societies.

[30]  Daniela Rus,et al.  Distributed Energy-conserving Routing Protocols for Sensor Networks , 2002 .

[31]  Zygmunt J. Haas,et al.  A new routing protocol for the reconfigurable wireless networks , 1997, Proceedings of ICUPC 97 - 6th International Conference on Universal Personal Communications.

[32]  Miodrag Potkonjak,et al.  Exposure in wireless Ad-Hoc sensor networks , 2001, MobiCom '01.

[33]  Teresa H. Meng,et al.  Minimum energy mobile wireless networks , 1998, ICC '98. 1998 IEEE International Conference on Communications. Conference Record. Affiliated with SUPERCOMM'98 (Cat. No.98CH36220).

[34]  Jean-Claude Latombe,et al.  Robot motion planning , 1970, The Kluwer international series in engineering and computer science.

[35]  Panganamala Ramana Kumar,et al.  RHEINISCH-WESTFÄLISCHE TECHNISCHE HOCHSCHULE AACHEN , 2001 .

[36]  Leonard Kleinrock,et al.  Optimal Transmission Ranges for Randomly Distributed Packet Radio Terminals , 1984, IEEE Trans. Commun..

[37]  Ram Ramanathan,et al.  Topology control of multihop wireless networks using transmit power adjustment , 2000, Proceedings IEEE INFOCOM 2000. Conference on Computer Communications. Nineteenth Annual Joint Conference of the IEEE Computer and Communications Societies (Cat. No.00CH37064).

[38]  Anna Scaglione,et al.  On the Interdependence of Routing and Data Compression in Multi-Hop Sensor Networks , 2002, MobiCom '02.

[39]  Gaurav S. Sukhatme,et al.  Efficient exploration without localization , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[40]  Deborah Estrin,et al.  Geography-informed energy conservation for Ad Hoc routing , 2001, MobiCom '01.

[41]  Deborah Estrin,et al.  ASCENT: Adaptive Self-Configuring sEnsor Networks Topologies , 2002, Proceedings.Twenty-First Annual Joint Conference of the IEEE Computer and Communications Societies.

[42]  Deborah Estrin,et al.  Embedding the Internet: introduction , 2000, Commun. ACM.

[43]  Srdjan Capkun,et al.  GPS-free Positioning in Mobile Ad Hoc Networks , 2001, Proceedings of the 34th Annual Hawaii International Conference on System Sciences.

[44]  Bruce Randall Donald,et al.  Real-time robot motion planning using rasterizing computer graphics hardware , 1990, SIGGRAPH.

[45]  David E. Culler,et al.  A transmission control scheme for media access in sensor networks , 2001, MobiCom '01.

[46]  S. M. Heemstra de Groot,et al.  Power-aware routing in mobile ad hoc networks , 1998, MobiCom '98.

[47]  Daniel E. Koditschek,et al.  Robot planning and control via potential functions , 1989 .

[48]  Gaurav S. Sukhatme,et al.  Robomote: a tiny mobile robot platform for large-scale ad-hoc sensor networks , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[49]  Charles E. Perkins,et al.  Highly Dynamic Destination-Sequenced Distance-Vector Routing (DSDV) for mobile computers , 1994, SIGCOMM.

[50]  David E. Culler,et al.  Active Message Communication for Tiny Networked Sensors , 2000 .

[51]  Chieh-Yih Wan,et al.  PSFQ: a reliable transport protocol for wireless sensor networks , 2002, WSNA '02.

[52]  M. S. Corson,et al.  A highly adaptive distributed routing algorithm for mobile wireless networks , 1997, Proceedings of INFOCOM '97.

[53]  Daniela Rus,et al.  Hierarchical Power-aware Routing in Sensor Networks , 2001 .

[54]  B. R. Badrinath,et al.  Ad hoc positioning system (APS) using AOA , 2003, IEEE INFOCOM 2003. Twenty-second Annual Joint Conference of the IEEE Computer and Communications Societies (IEEE Cat. No.03CH37428).

[55]  Daniela Rus,et al.  Reactive Behavior in Self-reconfiguring Sensor Networks , 2002 .