Routing over Low Power and Lossy Networks

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1 outing over Low Power and Lossy Networks Analysis and possible enhancements of the IETF PL routing protocol Enzo Mingozzi Associate University of Pisa e.mingozzi@iet.unipi.it

2 outing over LLNs Hunan University, June 25, Enzo Mingozzi 2 Where am I from? Pisa, Italy Founded in 1343 ~50,000 students > 150 courses yes, the tower is still up and leaning

3 Outline Introduction IETF activities around LLNs The PL routing protocol Overview of basic concepts and operation PL message dissemination: the Trickle algorithm Issue 1: unfairness -> Trickle-F Issue 2: link quality estimation -> Trickle-L^2 Conclusions outing over LLNs Hunan University, June 25, Enzo Mingozzi 3

4 IoT: new opportunities outing over LLNs Hunan University, June 25, Enzo Mingozzi 4

5 but also new challenges Scalability Number of nodes in the system Amount of data generated by each node Diversity of applications Diversity of communication technologies Potentially lossy if wireless Interoperability Low-power consumption Lifetime Context-awareness Security, trust outing over LLNs Hunan University, June 25, Enzo Mingozzi 5

6 IP for Smart Objects IP for Smart Objects Set of IPv6-based solutions being defined by IETF Supported by the IPSO alliance ( outing over LLNs Hunan University, June 25, Enzo Mingozzi 6

7 outing over LLNs Hunan University, June 25, Enzo Mingozzi 7 IP(v6) for Smart Objects Interoperability Layered approach for independence of underlying technologies Scalability Survived the current Internet evolution Unique (IPv6) addressing Direct support for self-configuration and management End-to-end No multi-protocol intermediate gateways Expensive and difficult to manage Lack of QoS end-to-end Security holes

8 6LowPAN WG Adaptation layer for devices connected by IEEE links [rfc4919, rfc4944] Fragmentation 1280 byte IPv6 MTU -> 127 byte frames Efficient header compression Network autoconfiguration using neighbor discovery Internet B B Extended LoWPAN outing over LLNs Hunan University, June 25, Enzo Mingozzi 8

9 outing over LLNs Hunan University, June 25, Enzo Mingozzi 9 Multi-hop forwarding in LLNs oute-over Mesh-Under

10 Outline Introduction IETF activities around LLNs The PL routing protocol Overview of basic concepts and operation PL message dissemination: the Trickle algorithm Issue 1: unfairness -> Trickle-F Issue 2: link quality estimation -> Trickle-L^2 Conclusions outing over LLNs Hunan University, June 25, Enzo Mingozzi 10

11 OLL WG PL (outing Protocol for Low-power and Lossy Networks) Distance Vector algorithm Destination oriented DAG formation Constrained routing based on multiple metrics A Layer-3 routing protocol! 6LowPAN and PL adopted by ZigBee/IP outing over LLNs Hunan University, June 25, Enzo Mingozzi 11

12 outing over LLNs Hunan University, June 25, Enzo Mingozzi 12 outing principles outes are optimized for data delivery to a selected number of destinations (MultiPoint-to-Point forwarding) PL builds a Destination-Oriented Directed Acyclic Graph (DODAG) on top of the multiple L2 broadcast domains outes are then computed based on a distance vector protocol B B PL

13 outing principles (cont.) In case of multiple sinks, one DODAG per sink PL nodes may belong to one and only one DODAG (per PL instance) B B PL B B outing over LLNs Hunan University, June 25, Enzo Mingozzi 13

14 Node rank A scalar representation of the node location within a DODAG instance The rank MUST monotonically decrease on each path towards the root Computed based on routing metrics established by an Objective Function ank: 3 ank: 2 ank: 5 ank: 0 ank: 4 B ank: 8 ank: 3 ank: 6 outing over LLNs Hunan University, June 25, Enzo Mingozzi 14

15 outing over LLNs Hunan University, June 25, Enzo Mingozzi 15 DODAG formation DIO Instance: 1 DODAG: 1 ank: 2 B DIO Instance: 1 DODAG: 1 ank: 4 DIO Instance: 1 DODAG: 1 ank: 2 Presence is advertised by broadcasting DIO (DODAG Information Object) messages Including the rank of the sender DIO advertising is started by the DODAG root PL nodes listen to DIO messages to learn the set of nodes in the one-hop neighborhood

16 outing over LLNs Hunan University, June 25, Enzo Mingozzi 16 DODAG formation (cont.) DIO Instance: 1 DODAG: 1 ank: 2 B DIO Instance: 1 DODAG: 1 ank: 4 DIO Instance: 1 DODAG: 1 ank: 2 As soon as the first DIO message is received, the node joins the DODAG It computes its own rank based on received information It start transmitting its own DIO messages The process is dynamic A set of parents is maintained dynamically while receiving DIO messages A preferred parent is selected

17 Objective Functions The Objective Function (OF) defines what metrics/constraints to use for finding minimum cost paths in a given PL instance More in general, the OF defines How to compute the path cost How to select parents (when, who, how many) How to compute the rank How to advertise the path cost outing over LLNs Hunan University, June 25, Enzo Mingozzi 17

18 outing Metrics/Constraints Node metric/constraints Node state and attributes Node energy (power mode, remaining lifetime) Hop count Link metrics/constraints Throughput Latency Link reliability Link colors outing over LLNs Hunan University, June 25, Enzo Mingozzi 18

19 Outline Introduction IETF activities around LLNs The PL routing protocol Overview of basic concepts and operation PL message dissemination: the Trickle algorithm Issue 1: unfairness -> Trickle-F Issue 2: link quality estimation -> Trickle-L^2 Conclusions outing over LLNs Hunan University, June 25, Enzo Mingozzi 19

20 DIO message broadcasting DIO messages are periodically re-broadcast to maintain routing information up to date Control flooding, but Fast propagation when needed (e.g., routing loops) DIO broadcasting is regulated by the Trickle algorithm (rfc6206) Broadcast suppression Adaptive periodicity outing over LLNs Hunan University, June 25, Enzo Mingozzi 20

21 DIO message broadcasting DIO broadcasting is regulated by the Trickle algorithm (rfc6206) N1 N2 N3 N4 t 1 I min 2I min K=2 Transmission Suppressed transmission outing over LLNs Hunan University, June 25, Enzo Mingozzi 21

22 Outline Introduction IETF activities around LLNs The PL routing protocol Overview of basic concepts and operation PL message dissemination: the Trickle algorithm Issue 1: unfairness -> Trickle-F Issue 2: link quality estimation -> Trickle-L^2 Conclusions outing over LLNs Hunan University, June 25, Enzo Mingozzi 22

23 Performance evaluation Scenario Topology: 20x20 grid (10m node distance) One instance, one DODAG ETX routing metric (ideal) I min and k variable Computer simulation 200 replicated experiments C. Vallati, E. Mingozzi, Trickle-F: fair broadcast suppression to improve energy-efficient route formation with the PL routing protocol, Proceedings of the 3rd IFIP Conference on Sustainable Internet and ICT for Sustainability (SustainIT 2013), Palermo, Italy, October 30-31, outing over LLNs Hunan University, June 25, Enzo Mingozzi 23

24 outing over LLNs Hunan University, June 25, Enzo Mingozzi 24 Performance evaluation How much time it takes to form the first DODAG (i.e., the network is fully connected)?

25 Performance evaluation How good are paths to the gateway? Path stretch: Path actual cost Best path cost Network stretch: Fraction of nodes whose path stretch is greater than 1 ~17 min ~1677 min outing over LLNs Hunan University, June 25, Enzo Mingozzi 25

26 outing over LLNs Hunan University, June 25, Enzo Mingozzi 26 Performance evaluation How much energy is consumed? Constant base + variable part proportional to the number of transmissions

27 outing over LLNs Hunan University, June 25, Enzo Mingozzi 27 Performance evaluation Distribution of path stretch values among nodes

28 outing over LLNs Hunan University, June 25, Enzo Mingozzi 28 Trickle analysis A B I K=1 y y,0 1 I 2 P Atranmits , n 1, 2, 4, 8,16,... 2 n

29 outing over LLNs Hunan University, June 25, Enzo Mingozzi 29 Trickle analysis 1 0,95 Probability of transmission of node A 0,9 0,85 0,8 0,75 0,7 0,65 0,6 0,55 0, n ,8 0,9 1 0,7 0,6 0,5 0,4 0,3 0,2 0,1 α 0,95-1 0,9-0,95 0,85-0,9 0,8-0,85 0,75-0,8 0,7-0,75 0,65-0,7 0,6-0,65 0,55-0,6 0,5-0,55

30 outing over LLNs Hunan University, June 25, Enzo Mingozzi 30 Affected scenarios The impact is higher on route optimization Who is transmitting matters more! - I = 7, K = 5 - outer 31 (bottom) only sends 3 DIO messages in 6000 s - Only the third arrives correctly to router 28 (up), which then changes its own preferred parent

31 Countermeasures? N1 t 1 I 1 N2 N3 N4 Transmission Suppressed transmission eception Listening period C. Vallati, E. Mingozzi, Trickle-F: fair broadcast suppression to improve energy-efficient route formation with the PL routing protocol, Proceedings of the 3rd IFIP Conference on Sustainable Internet and ICT for Sustainability (SustainIT 2013), Palermo, Italy, October 30-31, outing over LLNs Hunan University, June 25, Enzo Mingozzi 31

32 outing over LLNs Hunan University, June 25, Enzo Mingozzi 32 Performance evaluation Better routes on average at the same energy cost

33 outing over LLNs Hunan University, June 25, Enzo Mingozzi 33 Performance evaluation More fair distribution of suppressed transmissions (apart from border effects)

34 Outline Introduction IETF activities around LLNs The PL routing protocol Overview of basic concepts and operation PL message dissemination: the Trickle algorithm Issue 1: unfairness -> Trickle-F Issue 2: link quality estimation -> Trickle-L^2 Conclusions outing over LLNs Hunan University, June 25, Enzo Mingozzi 34

35 outing over LLNs Hunan University, June 25, Enzo Mingozzi 35 Link quality estimation ank computation may be based on dynamic metrics Objective Function Zero (rfc6552) recommends the use of dynamic link properties such as ETX (Expected transmission Count) Topology stability is highly dependent on the accuracy of link metric estimation But, at network formation time, there is no available estimate for just discovered links Contiki's PL implementation adopts a conservative choice: any previously unknown link is bad That is, long convergence time before stability while improving the accuracy of link quality estimation

36 Link quality estimation Link quality estimation and PL outing protocol control messages Not transmitted on a regular basis because of Trickle DIO message suppression Active probing through unicast messages Adds complexity and overhead Adds much latency exp. at network formation Passive monitoring through data packets transmission Only applies to links in use does not cover the full DODAG outing over LLNs Hunan University, June 25, Enzo Mingozzi 36

37 outing over LLNs Hunan University, June 25, Enzo Mingozzi 37 Proposal: Trickle-L 2 1. Delay joining the DODAG until (at least) one link with minimum quality is found Eventually bounded by a maximum time 2. Introduce a fast link quality estimation mechanism at DODAG formation time Possibly, at no or negligible cost from an implementation point of view E. Ancillotti,. Bruno, M. Conti, C. Vallati, E. Mingozzi, Trickle-L 2 : Lightweight Link Quality Estimation through Trickle in PL networks, Proceedings of the 15th IEEE Conference on a World of Wireless Mobile and Multimedia Networks (WoWMoM 2014), Sydney, AU, June 16-19, 2014.

38 outing over LLNs Hunan University, June 25, Enzo Mingozzi 38 Trickle-L 2 DIO Instance: 1 DODAG: 1 ank: 2 DIO Instance: 1 DODAG: 1 ank: 2 DIO Instance: 1 DODAG: 1 ank: 4 Bootstrap: collect DIO messages and do estimate ETX τ N max τ Limited active probing: send DIO messages with sequence numbers K=1 N p DIO Instance: 1 DODAG: 1 ank: 6 I min =I max

39 outing over LLNs Hunan University, June 25, Enzo Mingozzi 39 Performance evaluation Trickle-L 2 implemented in ContikiPL Scenario 100 nodes, uniformly distributed in 600x600sqm area 1 sink CB traffic, 1 Pkt/minute/node OF Zero with ETX, I min =I max = phase Cooja emulator (actual implementation tested) Tmote Sky platform MM interference model 5 runs per experiment, 2 hours of simulated time per run

40 Numerical results N max = 1, 8; N p = 5, 10, 20, 40 Path ETX stretch over the entire simulation (2 hours) outing over LLNs Hunan University, June 25, Enzo Mingozzi 40

41 outing over LLNs Hunan University, June 25, Enzo Mingozzi 41 Numerical results Average number of DIOs sent per minute

42 outing over LLNs Hunan University, June 25, Enzo Mingozzi 42 Numerical results Packet loss rate per node

43 Outline Introduction IETF activities around LLNs The PL routing protocol Overview of basic concepts and operation PL message dissemination: the Trickle algorithm Issue 1: unfairness -> Trickle-F Issue 2: link quality estimation -> Trickle-L^2 Conclusions outing over LLNs Hunan University, June 25, Enzo Mingozzi 43

44 outing over LLNs Hunan University, June 25, Enzo Mingozzi 44 Conclusions PL is by now the most promising candidate for IPv6 routing in future LLNs (i.e., the access part of the IoT) Good performance vs. energy efficiency trade-off is key to the operation of the protocol Trickle-F improves fairness of message suppression to improve routing information dissemination Trickle-L 2 exploits Trickle operation to enable fast active probing at network formation Future work Impact of duty-cycling Performance analysis in more dynamic scenarios

45 outing over LLNs Hunan University, June 25, Enzo Mingozzi 45 eferences FC 6206, The Trickle Algorithm, March 2011 FC 6550, PL: IPv6 outing Protocol for Low-Power and Lossy Networks, March 2012 FC 6551, outing Metrics Used for Path Calculation in Low-Power and Lossy Networks, March 2012 FC 6552, Objective Function Zero for the outing Protocol for Low-Power and Lossy Networks (PL), March 2012 FC 6719, The Minimum ank with Hysteresis Objective Function, September 2012 J.-P. Vasseur, A. Dunkels. Interconnecting Smart Objects with IP: The Next Internet. Morgan Kaufmann, 2010

46 Thanks! Enzo Mingozzi Associate University of Pisa e.mingozzi@iet.unipi.it

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