Distributed Algorithms for Mobile Sensor Networks CS5802 – Nathan Loika

What is a Mobile Sensor Network? Network of nodes Capable of point-to-multi-point communication Performs the collection of data Flexible hardware Sensing Computation Communication Locomotion Discrete or embedded

Physical Microcontroller / Processor Sensors Power Communications Tailored to application Power Solar, Battery Communications Radio Antenna Movement

Current Applications Machine learning Data mining Automation Autonomous vehicles Data mining Fitness trackers Environmental trackers Automation Home security Manufacturing optimization

Network Creation Unknown environment Occupancy grid Adaptive vs Incremental Occupancy grid High node degree typically

Creation Algorithm Example Given N mobile nodes with isotropic radial sensors of range Rs and isotropic radio communication of range Rc how should they deploy themselves so that the resulting configuration maximizes the net sensor coverage of the network with the constraint that each node has at least K neighbors? Attraction and repulsion forces Repel until node has degree K Communicate to critical nodes, continue to repel others Increase attraction force until equilibrium

Creation Algorithm Example

Communication Wireless Changing topology Coverage Energy consumption WiFi Bluetooth Radio Changing topology Ad-hoc Coverage Multi-hop Energy consumption

Communication Conserve Energy Change transmission power Fixed Global Equal Transmission Power (ETP) Dynamic Transmission Power (DTP) Local Local Mean Algorithm (LMA) Local Mean of Neighbors Algorithm (LMN) LMA -> Increase until # of nodes can be connected LMN -> Dynamic number of nodes, found from average neighbor connections

Distributed Algorithms Message diffusion Clustering Positioning Boundary detection Pathfinding

Message Diffusion Messages from a node propagates throughout network Creates tree like topology Allows changing topology Time constrained by number of hops

Clustering Grouping nodes into clusters to ease communication Fixes topology Typically single hop clusters Typically O(n) time Possible to redistribute clusterheads to improve load balancing

Positioning Triangulation Obstructions reduce accuracy Hops Transmission power Obstructions reduce accuracy

Citations Howard, Andrew, Maja J. Matarić, and Gaurav S. Sukhatme. "An incremental self-deployment algorithm for mobile sensor networks." Autonomous Robots 13.2 (2002): 113-126. Poduri, Sameera, and Gaurav S. Sukhatme. "Constrained coverage for mobile sensor networks." Robotics and Automation, 2004. Proceedings. ICRA'04. 2004 IEEE International Conference on. Vol. 1. IEEE, 2004. Kubisch, Martin, et al. "Distributed algorithms for transmission power control in wireless sensor networks." Wireless Communications and Networking, 2003. WCNC 2003. 2003 IEEE. Vol. 1. IEEE, 2003. Bandyopadhyay, Seema, and Edward J. Coyle. "An energy efficient hierarchical clustering algorithm for wireless sensor networks." INFOCOM 2003. Twenty-Second Annual Joint Conference of the IEEE Computer and Communications. IEEE Societies. Vol. 3. IEEE, 2003. McLurkin, James D. Algorithms for distributed sensor networks. Diss. Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, 1999.