IEEE/ACM TRANSACTIONS ON NETWORKING, VOL. 19, NO. 3, JUNE

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1 IEEE/ACM TRANSACTIONS ON NETWORKING, VOL. 19, NO. 3, JUNE On Combining Shortest-Path and Back-Pressure Routing Over Multihop Wireless Networks Lei Ying, Member, IEEE, Sanjay Shakkottai, Member, IEEE, Aneesh Reddy, and Shihuan Liu, Student Member, IEEE Abstract Back-pressure-type algorithms based on the algorithm by Tassiulas and Ephremides have recently received much attention for jointly routing and scheduling over multihop wireless networks. However, this approach has a significant weakness in routing because the traditional back-pressure algorithm explores and exploits all feasible paths between each source and destination. While this extensive exploration is essential in order to maintain stability when the network is heavily loaded, under light or moderate loads, packets may be sent over unnecessarily long routes, and the algorithm could be very inefficient in terms of end-to-end delay and routing convergence times. This paper proposes a new routing/scheduling back-pressure algorithm that not only guarantees network stability (throughput optimality), but also adaptively selects a set of optimal routes based on shortest-path information in order to minimize average path lengths between each source and destination pair. Our results indicate that under the traditional back-pressure algorithm, the end-to-end packet delay first decreases and then increases as a function of the network load (arrival rate). This surprising low-load behavior is explained due to the fact that the traditional back-pressure algorithm exploits all paths (including very long ones) even when the traffic load is light. On the other-hand, the proposed algorithm adaptively selects a set of routes according to the traffic load so that long paths are used only when necessary, thus resulting in much smaller end-to-end packet delays as compared to the traditional back-pressure algorithm. Index Terms Back-pressure routing, delay reduction, shortestpath routing, throughput-optimal. I. INTRODUCTION DUE TO the scarcity of wireless bandwidth resources, it is important to efficiently utilize resources to support highthroughput, high-quality communications over multihop wireless networks. In this context, good routing and scheduling algorithms are needed to dynamically allocate wireless resources to maximize the network throughput region. To address this, Manuscript received August 18, 2009; revised April 04, 2010 and September 09, 2010; accepted October 20, 2010; approved by IEEE/ACM TRANSACTIONS ON NETWORKING Editor C. Westphal. Date of publication December 23, 2010; date of current version June 15, This work was supported in part by NSF Grants CNS , CNS , CNS , and CNS ; the DARPA ITMANET Program; and DTRA Grants HDTRA and HDTRA An earlier version of this paper appeared in the Proceedings of the IEEE International Conference on Computer Communications (IN- FOCOM), Rio de Janeiro, Brazil, April 19 25, L. Ying and S. Liu are with the Department of Electrical and Computer Engineering, Iowa State University, Ames, IA USA ( leiying@iastate.edu; liush08@iastate.edu). S. Shakkottai and A. Reddy are with the Department of Electrical and Computer Engineering, The University of Texas at Austin, Austin, TX USA ( shakkott@ece.utexas.edu; areddy@ece.utexas.edu). Color versions of one or more of the figures in this paper are available online at Digital Object Identifier /TNET throughput-optimal 1 routing and scheduling, first developed in the seminal work of [2], has been extensively studied [3] [14]. We refer to [15] and [16] for a comprehensive survey. While these algorithms maximize the network throughput region, additional issues need to be considered for practical deployment. With the significant increase of real-time traffic, end-to-end delay becomes very important in network algorithm design. The traditional back-pressure algorithm stabilizes the network by exploiting all possible paths between source destination pairs (thus load balancing over the entire network). While this might be needed in a heavily loaded network, this seems unnecessary in a light or moderate load regime. Exploring all paths is in fact detrimental it leads to packets traversing excessively long paths between sources and destinations, leading to large end-to-end packet delays. This paper proposes a new routing/scheduling back-pressure algorithm that minimizes the path lengths between sources and destinations while simultaneously being overall throughput-optimal. The proposed algorithm results in much smaller end-to-end packet delay as compared to the traditional back-pressure algorithm. The main contributions of this paper are summarized next. A. Main Contributions We define a flow using its source and destination. Let denote a flow in network, denote the set of all flows in the network, and denote the number of packets generated by flow at time. We first consider the case where each flow associates with a hop constraint. The routing and scheduling algorithm needs to guarantee that the packets from flow are delivered in no more than hops. Note that this hop constraint is closely related to the end-to-end propagation delay. For this problem, we propose a shortest-path-aided back-pressure algorithm that exploits the shortest-path information to guarantee the hop constraint and is throughput-optimal; i.e., if there exists a routing/scheduling algorithm that can support the traffic with the given hop constraints, then the shortest-path-aided back-pressure can support the traffic as well. We then consider a case where no per-flow hop constraint is imposed. The objective is to minimize the average number of hops per packet delivery (or the average path lengths between sources and destinations). Mathematically, given a traffic load, the objective is 1 A routing/scheduling algorithm is throughput-optimal if it can stabilize any traffic that can be stabilized by any other routing/scheduling algorithm /$ IEEE

2 842 IEEE/ACM TRANSACTIONS ON NETWORKING, VOL. 19, NO. 3, JUNE 2011 where is the rate that flow delivers packets using paths with hops, and. This objective has two interpretations. First, can be thought of as the number of transmissions needed to support traffic (transmitting a packet over an -hop path requires transmissions). Thus, minimizing can be regarded as minimizing the network resource used to support the traffic demand. Second, note that the number of hops is closely related to the end-to-end delay, so is related to the average end-to-end delay of flow. Thus, minimizing can potentially be used as a surrogate for minimizing the average end-to-end delay over all flows in the network (the difference being that the MAC delays are ignored in the hop-count metric). To solve this problem, we propose a joint traffic-control and shortest-path-aided back-pressure algorithm that not only guarantees the network stability (throughput-optimal), but also adaptively selects the optimal routes according to the traffic demand. When the traffic is light, the algorithm only uses shortest paths; when the traffic increases, more paths are exploited to support the traffic. Our simulations show that the joint traffic-control and shortest-path-aided back-pressure algorithm leads to a much smaller end-to-end delay compared to the traditional back-pressure algorithm: 5 time slots/packet versus 1000 time slots/packet when the traffic load is light and 2000 time slots/packet versus 3000 time slots/packet when the traffic load is high as illustrated in the example in Section II. B. Related Work Throughput-optimal routing/scheduling was first proposed in [2], and has then been studied for varied networks including cellular networks [17], cooperative relay networks [11], [12], and multihop wireless networks [6], [7], [9]. Low-complexity implementations have been proposed in [13] and [18] [28]. Joint scheduling/routing/power control has been developed in [6] and [10]. Throughput-optimal routing/scheduling for multicast flows has been considered in [29]. The idea of using the shortest path information to enhance the performance of the back-pressure algorithm has been studied in [30]. The main difference is that the proposed algorithm provably minimizes the average path lengths, whereas the enhanced algorithm in [30] uses the shortest path information in a heuristic manner. An alternate algorithm that deals with minimizing the number of hops has been recently independently obtained in [31]. The objective function in [31] is the same as in this paper, however the proposed algorithms are different. In [32] and [33], the authors have proposed throughput-optimal routing policies based on new Lyapunov functions that improve the delay performance compared to the original back-pressure algorithm. II. ILLUSTRATIVE EXAMPLE As was discussed in the Introduction, the back-pressure algorithm exploits all feasible paths, which is critical to maintain Fig. 1. Back pressure via our joint traffic splitting and shortest-path-aided back pressure. stability when the network is heavily loaded. However, when the traffic load is light, packets may be sent over unnecessary long paths and the algorithm could be very inefficient. In this section, we present a simulation result to demonstrate the weakness of the back-pressure algorithm and the significant end-to-end delay reduction that results under the proposed algorithm (the algorithm will be described in Section V). Define the end-to-end delay of a packet to be the time interval from when the packet enters the source to when the packet reaches the destination (this includes the MAC delay at intermediate nodes). Fig. 1 illustrates the average end-to-end delays under the back-pressure algorithm and the proposed algorithm under different traffic loads. The network used in the simulation is a grid-like network with 64 nodes and 8 data flows. A detailed description of the network and simulation settings will be presented in Section VI. From Fig. 1, we have two observations. 1) Under the back-pressure algorithm, surprisingly, the delay first decreases and then increases as the traffic load increases. The second part is easy to understand: The queues build up when the traffic load increases, which increases the queuing delays. The first part is because the back-pressure algorithm uses all paths even when the traffic load is light. For example, in a light traffic regime, using shortest paths is sufficient to support the traffic flows. However, under the back-pressure algorithm, long paths and paths with loops are also used. Furthermore, the lighter the traffic load, the more loops are involved in the route. Hence, the end-to-end delay is large. 2) In the proposed algorithm, the set of routes used is intelligently selected according to the traffic load so that long paths are used only when necessary. We can see that under the proposed algorithm, not only is the delay significantly reduced, but also the delay monotonically increases with the traffic load. We would like to emphasize that under the proposed algorithm, the delay improvement is achieved without losing the throughput-optimality. The proposed algorithm is still throughput-optimal, but yields much smaller end-to-end delays as compared to the traditional back-pressure algorithm.

3 YING et al.: ON COMBINING SHORTEST-PATH AND BACK-PRESSURE ROUTING OVER MULTIHOP WIRELESS NETWORKS 843 III. BASIC MODEL Network Model: Consider a network represented by a graph, where is the set of nodes and is the set of directed links. We assume that and. Denote by the link from node to node. Furthermore, let denote a link-rate vector such that is the transmission rate over link. A link-rate vector is said to be admissible if the link-rates specified by can be achieved simultaneously. Define to be the set of all admissible link-rate vectors. It is easy to see that depends on the choice of interference model and might not be a convex set. Furthermore, is time-varying if link-rates are time-varying. To simplify our notations, we assume time-invariant link-rates in this paper. However, our results can be extended to time-varying link-rates in a straightforward manner. Furthermore, we assume that there exist and such that for all and all admissible. Next, we define a link vector to be obtainable if, where denotes the convex hull of. Note that an admissible rate-vector is a set of rates at which the links can transmit simultaneously, while an obtainable rate-vector is a set of rates that can be achieved including using time sharing. As a simple example, consider a network with two nodes {1, 2} and two links {(1, 2), (2, 1)}. Assume the link capacity is one packet per time slot for both links, and half-duplex constraint so that only one link can transmit at one time. Then, is not an admissible rate-vector since two links cannot transmit at the same time. However, it is obtainable by time sharing. Traffic Model: For network traffic, we let denote a flow, denote the source of the flow, and the destination of the flow. We use to denote the set of all flows in the network. Assume that time is discretized, and let denote the number of packets injected by flow at time. In this paper, we assume is random and independent and identically distributed (i.i.d.) across time slots, for all if, for all and, and. IV. THROUGHPUT-OPTIMAL ROUTING/SCHEDULING WITH HOP CONSTRAINTS In this section, we consider the case where each flow is associated with a hop constraint. Packets of flow need to be delivered within hops. We propose a shortest-path-aided back-pressure algorithm, which is throughput-optimal under hop-constraints. The algorithm is also a building block for the algorithm to be proposed in Section V, which seamlessly integrates the back-pressure and the shortest-path routing. Next, we characterize the network throughput region under hop constraints. A. Network Throughput Region Under Hop Constraints We denote by the indicator function with condition, i.e., if condition holds, and otherwise. Given traffic and hop constraint, we define by saying that if there exists such that the following conditions hold. (i) For any three-tuple such that and,wehave (ii) If, then where is the minimum number of hops from node to node. (iii) where and is the set of all destinations. We can regard as the average transmission rate over link for transmitting those packets that are required to be delivered to node within hops. Note that when a packet is sent to node from node, the hop constraint associated with the packet reduces by one. Then, the conditions above can be explained as follows. a) Condition (i) is the flow-conservation constraint, which states that the number of incoming packets to node with hop constraint is equal to the number of outgoing packets from node with hop constraint. Note that the hop constraint reduces by one after a packet is sent out by node because it takes one hop to transmit the packet from node to one of its neighbors. We only consider hop constraints up to because the longest loop-free path has no more than hops, and considering only loop-free routes does not change the network throughput region. b) Condition (ii) states that a packet should not be transmitted from node to node if node cannot deliver the packet within the required number of hops. c) Condition (iii) is the capacity constraint, which states that the rate-vector should be obtainable. We say traffic can be stabilized if there exists some routing/scheduling algorithm under which the mean of the number of packets queued in the network is bounded. From discussions a) c), it is easy to see that if can be stabilized, then there must exist satisfying conditions (i) (iii). Thus, is named as the the throughput region of network. B. Queue Management We introduce our queue management scheme. Recall is the minimum number of hops from node to node (or the length of the shortest path from node to node ). Note that can be computed in a distributed fashion using algorithms such as the Bellman Ford algorithm. Thus, we assume that node knows for all destinations, and for such that. (1) (2) (3)

4 844 IEEE/ACM TRANSACTIONS ON NETWORKING, VOL. 19, NO. 3, JUNE 2011 The dynamics of queue is as follows: where is the actual number of packets transferred from queue to queue and is smaller than when there are not enough packets in queue. Define to be the unused service. We have Fig. 2. Illustration of queue management and computation of back pressure. We assume node maintains a separate queue, named queue, for those packets required to be delivered to node within hops. For destination, node maintains queues for, where is a universal upper bound on the number of hops along loop-free paths. As an example, consider the directed network shown in Fig. 2, and assume that (i.e., there is only one destination). Each nondestination node maintains up to three queues (because for this topology, there are no loop-free paths longer than three hops). Node 1 has queues corresponding to, 2, 3, respectively. Node 2 does not have a direct path to node 4 (i.e., ), hence it maintains only two queues corresponding to, 3 (and implicitly, we set to ensure that no packets enter ). Node 3 maintains three separate queues corresponding to, 2, 3, in spite of the observation that there is only one feasible route from node 3 to node 4. We maintain these additional queues because the global network topology is not known by individual nodes. Finally, all queues at the destination for packets meant to itself are set to zero (e.g., ). In Fig. 2, queues into which packets potentially arrive are marked in solid lines, and the virtual queues that are fixed at are in dotted lines. C. Queue Dynamics Let denote the queue length at time slot, and denote the service rate allocated to transmit packets from queue to queue over link at time. Since the packets in queue need to be delivered within hops, they can be only deposited to queues for. For example, packets from queue {2, 4, 3} can be transferred to queue {3, 4, 2} or queue {3, 4, 1}. Thus, we impose the following constraint on routing: The packets in queue can be only transferred to queues for, i.e., for all. We also define for all, i.e., packets delivered are removed from the network immediately. In Section IV-D, we propose a shortest-path-aided back-pressure algorithm that stabilizes the network given any. D. Shortest-Path-Aided Back-Pressure Algorithm Recall that we have per-hop queues for each destination, which is different from the back-pressure algorithm in [2]. Thus, we first define the back pressure of link under our queue management scheme. We define, the back pressure between queue and queue over link, as follows: if and ; otherwise (note that queue does not exist if ). The back pressure of link is defined to be Considering the example shown in Fig. 2, it can be verified that,,,, and. Shortest-Path-Aided Back-Pressure Algorithm 2 Consider time slot. Step 0: The packets injected by flow are deposited into queue maintained at node. Step 1: The network first computes that solves the following optimization problem: 2 In this algorithm, we allow the packets in queue fm; d; kg to be transferred to queues fn; d; hg for any h such that h k 0 1, which is more general than the algorithm proposed in [1], where the packets in queue fm; d; kg can be transmitted only to queue fn; d; k 0 1g. (4)

5 YING et al.: ON COMBINING SHORTEST-PATH AND BACK-PRESSURE ROUTING OVER MULTIHOP WIRELESS NETWORKS 845 where is an admissible link-rate vector and is the rate over link. Step 2: Consider link. If and, node selects a pair of queues, say and, such that and transfers packets from queue queue at rate. We again consider the example in Fig. 2. Assume the node-exclusive interference model where adjacent links cannot be active at the same time. Furthermore, assume that link capacity is equal to one packet/time slot for all links. Then, given the queue states shown in the figure, we can easily verify that to and. Therefore, node 1 transmits one packet from queue {1, 4, 1} to its destination (node 4), and node 2 transmits one packet from queue {2, 4, 2} to queue {3, 4, 1} at node 3. Note that the optimization problem defined by (4) is a centralized problem. There has been a lot of recent work on distributed solutions, e.g., [18], [19], [21] [23], and [26] [28]. These distributed algorithms can be used in step 2 of the proposed algorithm. Distributed implementation, however, is not the focus of this paper. The next theorem shows that the shortest-path-aided backpressure algorithm is throughput-optimal under per-flow hop constraints, and the proof is presented in Appendix A. Theorem 1: Given traffic and hop constraint such that for some, the network can be stabilized under the shortest-path-aided back-pressure algorithm, and packets delivered are routed over paths that satisfy corresponding hop constraints. V. THROUGHPUT-OPTIMAL AND HOP-OPTIMAL ROUTING/SCHEDULING In Section IV, we proposed the shortest-path-aided back-pressure algorithm that is throughput-optimal and supports per-flow hop constraint. In this section, we consider the scenario where no hop constraint is imposed. Recall that is an upper bound on the number of hops of loop-free paths. Define such that for all. Then, we can assume that a flow is always associated with hop constraint, i.e., all loop-free paths are allowed. Note that considering only loop-free paths does not change the network throughput region. Thus, we say is within the network throughput region if, which is also written as. In this section, we propose an algorithm that is both throughput-optimal and hop-count optimal, i.e., minimizing the average path lengths. Recall that the motivation to develop a hop-optimal algorithm is that such an algorithm will not only minimize the number of transmissions required to support the traffic, but also reduce the average end-to-end transmission delay. (As we will later see from simulations, minimizing hop count does seem to result in smaller end-to-end delays.) A. Hop Minimization Given traffic, we let denote the set of routing/ scheduling policies that stabilize the network. We further define to be the rate at which flow delivers packets over paths with exactly hops under policy, which is well defined when the network can be stabilized. Our objective is to find a policy such that Note that each stabilizing policy yields an obtainable rate vector. Recall that is the average rate over link used to transmit packets destined to node and delivered with exactly more hops. Thus, problem (5) is equivalent to the following optimization problem: (5) (6) such that (7) if (8) (9) (10) (11) (12) To understand problem (6), we can think that we split flow into flows, allocate fraction of flow to flow, and impose hop constraint to flow. Then, the average number of hops per packet delivery of flow is Thus, problem (6) is to find a splitting that is supportable and also minimizes the number of hops used to support the traffic. B. Dual Decomposition To solve optimization problem (6), we define to be the Lagrange multiplier associated with (7). Then, we can obtain a partial Lagrange dual function as follows: subject to: (8) (12)

6 846 IEEE/ACM TRANSACTIONS ON NETWORKING, VOL. 19, NO. 3, JUNE 2011 where Furthermore, equality (13) motivates us to propose a trafficsplitting scheme such that, at time slot, the arrivals of flow are deposited in queue that minimizes and According to the Slater s condition [34], the strong duality holds. Thus, there exist such that is the optimal solution to problem (6), and The parameter in the traffic splitting is a tuning parameter, which plays an important role when the proposed algorithm is used in a stochastic network (stochastic arrivals and fading channels). In theory, the value of controls the tradeoff between the overall backlog in the network and the optimality of the steady-state resource allocation solution. The algorithm asymptotically solves the hop minimization problem as, but pays a price of increasingly large backlogs in the network. In previous works on stochastic control of wireless networks [5], [7], similar tuning parameters have also been introduced and studied. Joint Traffic-Splitting and Shortest-Path-Aided Back-Pressure Algorithm From the equality above, we can thus conclude that there exist such that the following equations hold: subject to: (11) (12) subject to: (8) (10) (13) (14) (15) where equality (15) holds according to the definition of Lagrange multipliers. C. Joint Traffic-Splitting and Shortest-Path-Aided Back-Pressure Algorithm Now motivated by (13) and (14), we propose a joint trafficsplitting and shortest-path-aided back-pressure algorithm. First, note that Traffic Splitting: At time, external arrivals of flow are deposited into queue, where is the smallest integer of the following set: Routing/Scheduling: The shortest-path-aided back-pressure algorithm without step 0. (16) We first show that the above algorithm is throughput-optimal. We denote by the number of packets that are injected by flow at time, and assigned a hop constraint under the joint traffic control and shortest-path-aided back-pressure algorithm with parameter. Theorem 2: Given such that for some, the network is stochastically stable under joint trafficsplitting and shortest-path-aided back-pressure algorithm. Proof: It can be easily verified that is a Markov chain. We define a Lyapunov function is linear in terms of. Thus, we have and prove that there exists for some, then such that if (17) which implies the positive recurrence of the Markov chain. The details are presented in Appendix B. Now given such that, we further define Note that the Lagrange multiplier is related to queue length, and (7) (10) are the same as conditions (i)-(iii) defined in Section IV-A, so equality (14) motivates us to use the shortest-path-aided back pressure defined by (4). Note that is well defined because the network is stable according to Theorem 2.

7 YING et al.: ON COMBINING SHORTEST-PATH AND BACK-PRESSURE ROUTING OVER MULTIHOP WIRELESS NETWORKS 847 The next theorem states that the algorithm asymptotically solves the optimization problem (6) as. Theorem 3: Given such that for some, under the joint traffic-allocation and shortest-path-aided back pressure, we have (18) where is the optimal solution to problem (6). Proof: Based on Theorem 2, we can first show that there exists such that Furthermore, it is easy to see that (19) Fig. 3. Topology of the network used in the simulations. holds for any and. Thus, the theorem holds. The details are given in Appendix C. According to Theorem 3, we should choose a large to minimize the average-number of hops per packet delivery. However, we notice that with a large, packets are assigned to queue only when queue has a large backlog, which could lead to a large queueing delay (i.e., large MAC delay). Thus, there is a tradeoff choosing the value of (to trade off between reducing hop count and queueing delay). A similar tradeoff resulted from a drift-plus-penalty technique of Lyapunov optimization for wireless networks has been observed and analyzed in [7], [35], where the orderwise tradeoff is quantified. In this paper, we will study the impact of on network performances using simulations in Section VI. VI. SIMULATIONS In this section, we use simulations to study the performance of the proposed joint traffic-splitting and shortest-path-aided back-pressure algorithm. We use the term the joint algorithm to refer to the joint traffic-splitting and shortest-path-aided backpressure algorithm. The simulations were implemented using OMNeT++. A. Simulation Setup We consider a network with 64 nodes as shown in Fig. 3. The network consists of four clusters, and each cluster is a 4 4regular grid with two randomly added links. Two neighboring clusters are connected by two links. Here, only two links are used to connect two clusters instead of four or more. This is to force intercluster flows to be routed over long paths when the traffic load is high so that the traffic-splitting behavior of the joint algorithm can be easily observed. All links are bidirectional links with capacity one packet/time slot for both directions. All links are assumed to be orthogonalized so they can transmit simultaneously. The propagation delay of a link is assumed to be zero. Eight traffic flows were created in the network, as listed in Table I. Flows 1 5 are intercluster flows, and the rest are intracluster flows. The packet arrivals of all flows follow Poisson processes. We fixed the arrival rates of intracluster flows to be TABLE I FLOWS IN THE NETWORK 0.2 packets/time slot. All intercluster flows have the same arrival rate, denoted by (packets/time slot). In the simulations, we varied to observe the performance of the back-pressure algorithm and the joint algorithms under different traffic loads. For each, the simulation is executed for iterations. When ties occurred in deciding the traffic split or computing the back pressure of a link, we selected the first obtained solution. B. Average Number of Hops per Packet Delivery We first study the average number of hops per packet delivery, called average hop count, which is averaged over all successfully delivered packets. We implemented the back-pressure algorithm and the joint algorithm with and. We note that when, in the traffic splitting, a queue with hop constraint is chosen over a queue with hop constraint as long as the first queue is smaller. Thus, a small results in a small penalty on long paths. From Fig. 4, we have the following observations. When is small, the joint algorithm has significantly smaller average hop counts than that of the back-pressure algorithm (4 hops/packet delivery versus 180 hops/packet delivery). This is because the back pressure exploits all feasible paths, while the joint algorithm only utilizes short paths. When is large (the network is critically loaded), the average hop counts of the joint algorithm became closer to that of the back-pressure algorithm. This is because in a

8 848 IEEE/ACM TRANSACTIONS ON NETWORKING, VOL. 19, NO. 3, JUNE 2011 Fig. 4. Hop counts of the back-pressure algorithm and the joint algorithm with different K s. Fig. 6. Average end-to-end packet delays under the back-pressure algorithm and the joint algorithm with different K s. Fig. 5. Hop counts of the joint algorithm with different K s. Fig. 7. CDF of end-to-end packet delays. heavy traffic regime, the joint algorithm also exploits long paths to maintain stability. Fig. 5 is the zoomed-in picture of Fig. 4, which shows the hop counts of the joint algorithm with different values of.we observe that the average hop count increases as decreases. In Theorem 3, we have proved that the average path lengths are asymptotically minimized when. Our simulation results are consistent with the theorem. C. End-to-End Packet Delays We also computed the average end-to-end packet delay, averaging over all successfully delivered packets. Similar to the hop count, in Fig. 6, we observe that the back pressure performs very poorly when is small. This can be attributed to the excessive looping in the route of each packet and can roughly be interpreted as a random walk on the two-dimensional network. When is large, we also observe some improvement of the joint algorithm, with and, over the back-pressure algorithm. The improvement decreases because the joint algorithm has to exploit long paths in a heavy traffic regime. We further note that the joint algorithm with performs very poorly in terms of end-to-end packet delay while it has the smallest average hop count. As we have seen in the analysis of Theorem 3, minimizes the average hop count, but results in large queues, hence large end-to-end packet delays. Fig. 7 illustrates the cumulative distribution function (cdf) of end-to-end packet delays for and. We observe that the joint algorithm with has a much steeper slope compared to the back-pressure algorithm, which again indicates that the joint algorithm has a much better delay performance compared to the back-pressure algorithm. D. Queue Lengths Here, we study the total queue length at each node. The average queue length was obtained by averaging over the iterations and over all nodes in the network. Fig. 8 illustrates the comparison between the back-pressure and the joint algorithm with in light and medium traffic regimes. Fig. 9 illustrates the average queue lengths in medium and heavy traffic regimes. We observe that in a light traffic regime, the average queue length of the joint algorithm is close to 0, while the one under the back-pressure algorithm is more than 20. The two algorithms, however, perform similarly in a heavy traffic regime. We note that the joint algorithm still has smaller end-to-end packet delays, as shown in Fig. 6, because the average hop count is smaller, as shown in Fig. 4. Fig. 10 illustrates the average queue lengths under the joint algorithm with different s. We observe that the average queue length increases as increases.

9 YING et al.: ON COMBINING SHORTEST-PATH AND BACK-PRESSURE ROUTING OVER MULTIHOP WIRELESS NETWORKS 849 Fig. 8. Back-pressure versus the joint algorithm in light and medium traffic regimes. Fig. 9. Back-pressure versus the joint algorithm in medium and heavy traffic regimes. Fig. 11. Back-pressure versus the joint algorithm with K =1. and the second file arrives after all packets of the first file are sent out from the source. After a file arrives, the packets of the file are injected into the source node with a constant rate until the complete file is injected. The file size follows a Poison distribution. We considered two file-size distributions: 1) a Poisson distribution with mean 50; and 2) a Poisson distribution with mean Similar to previous simulations, we fixed the of intracluster flows and varied the of intercluster flows. Under back-pressure algorithm and the joint algorithm, some packets may be queued in the network for a very long time. We therefore assume the packets of a file are coded using rateless codes so that a file can be completely recovered when 90% of the coded packets are received. Fig. 11 illustrates the file transfer delays of the joint algorithm with and the back-pressure algorithm. As we can see, when the mean file size is 50, the joint algorithm performs significantly better than the back-pressure algorithm in both light or medium traffic regimes, but performs similarly to the back-pressure algorithm in the heavy traffic regime. This is because in the heavy traffic regime, the end-to-end packet delays of the two algorithms are similar. When file sizes are large, the two algorithms perform similarly regardless of the traffic load. This is because, for a large-size file, the dominant component of the file transfer delay is the transmission delay, the number of time slots required to inject all the packets of a file into the network, which is independent of the routing algorithm. VII. DISCUSSION A. Minimum-Weight-Aided Back Pressure Fig. 10. Performance of the joint algorithm with different values of K. E. File Transfer Delay We also investigated file transfer delays (the duration from the time a file enters the network until it is received at the destination). We compared the back-pressure algorithm with the joint algorithm with. In this simulation, files belonging to the same flow are injected into the source of the flow one by one, In Sections IV and V, the scheduling/routing algorithms we developed use the shortest-path information in finding the next hop. The length of a path is defined to be the number of hops along the path. Instead of counting the number of hops, we can assign different weights to different links. The weight can be the propagation time of the link, the geographic distance between two nodes, etc. Then, letting denote the minimum aggregated weight from node to node, we can use this information to replace to have algorithms that support other quality-of-service constraints.

10 850 IEEE/ACM TRANSACTIONS ON NETWORKING, VOL. 19, NO. 3, JUNE 2011 B. Elastic Flows and Utility Maximization In this paper, we primarily focused on inelastic flows. The algorithms can be easily extended to elastic flows by considering the following utility maximization problem: where is the utility function associated with flow, and the constant controls the tradeoff between the network utility and the average path length. Exploiting the dual decomposition, a rate control algorithm can be obtained following a similar approach used in [5] [7] and [9]. Combining the rate control algorithm and the short-path-aided back-pressure algorithm developed in this paper, the algorithm can maximize the network utility while minimizing the average path length required for supporting the maximum utility (by choosing a sufficiently larger than ). APPENDIX A PROOF OF THEOREM 1 Some steps of the following proofs are similar to previous analysis of back-pressure-based algorithms. They are included for exhaustiveness. First, it is easy to verify that is Markovian since the shortest-path-aided back-pressure algorithm makes routing and scheduling decisions based on the queue lengths and link states at time. Defining a Lyapunov function the drift of the Lyapunov function is as follows: C. Virtual Queues In the joint traffic-splitting and shortest-path-aided back-pressure algorithm, we impose artificial hop constraints in order to minimize the average path length. Note that for the packets at node with destination, interchanging their hop constraints will not change the routing/scheduling decisions, hence that will not change the average number of transmissions per time slot, which is the same as the average path length. This suggests that per-hop queues do not need to be real queues. We can maintain per-destination real queues as in the traditional back-pressure algorithm, but have per-hop counters (virtual queues). This idea of using virtual queues (or shadow queues) to reduce the queue complexity has been proposed in [31]. Let denote the value of the corresponding virtual queue at time, and the length of the real queue maintained for destination at node at time. The joint algorithm with virtual queues works as follows: 1) the virtual queues are updated as defined in the joint algorithm; and 2) at each time slot, we transfer packets from the real queue to queue for destination such that there exist and satisfying By utilizing virtual queues, the number of real queues required in the system will be the same as that in the original back-pressure algorithm. where Recall that,, and. The following inequalities can be verified easily: ; ; only if since, otherwise, there are enough packets in queue to be transmitted. Based on these inequalities and following the argument in [36], we can obtain the following inequality: VIII. CONCLUSION In this paper, we have proposed new routing/scheduling algorithms that integrate the back-pressure algorithm and shortestpath routing. Using simulations, we have demonstrated a significant end-to-end delay performance improvement using the proposed algorithm.

11 YING et al.: ON COMBINING SHORTEST-PATH AND BACK-PRESSURE ROUTING OVER MULTIHOP WIRELESS NETWORKS 851 where (21) and where inequality is a result of inequality (20). We note that for all. Thus, given, there exists some link for which we have, which implies that Note that implies that there exist and that satisfy the conditions (1) (3), where if. We then obtain that under the shortest-path-aided back pressure, for any where the last inequality holds because Taking expectation (over ) at both sides of the inequality yields the following inequality: (20) Then, by summing up both sides of the inequality above from to, we obtain where equality ( ) yields from the definition of, equality ( ) holds because is linear over, and inequality ( ) holds results from the definition of the back pressure. By adding and substituting terms which implies that and using equality (1), we conclude that Hence, the network is stable. Next, we will show that no packet will violate the hop constraint under the proposed algorithm. From the definition of the back pressure and the optimization (4), we can see that the packets in queue are transmitted only to queues for and. This guarantees there exists at least one feasible path from node to destination with no more than hops. Also, the packets of flow are first queued at queue. Based on the facts above, it can be

12 852 IEEE/ACM TRANSACTIONS ON NETWORKING, VOL. 19, NO. 3, JUNE 2011 easily verified that if a packet is received by its destination, then so where is the number of hops the packet has been transmitted over. We therefore conclude that every delivered packet is delivered within the required number of hops. Furthermore, since,wehave APPENDIX B PROOF OF THEOREM 2 First, it can be easily verified that Define the Lyapunov function to be is a Markov chain. which implies that (22) (23) 0. According to inequality (20), the following inequality also holds: Note that implies that there exist and such that, and conditions (i) (iii) defined in Section IV-A hold. Similar to the proof of Theorem 1, we can first show that Therefore, we obtain where. The rest of the proof is identical to the proof of Theorem 1. (22) APPENDIX C PROOF OF THEOREM 3 Recall that and are the optimal solutions to optimization problem (6). Thus,, and and satisfy conditions (i) (iii) defined in Section IV-A. Similar to the proof of Theorem 1, we can show that (23) Given and, the traffic-splitting algorithm guarantees

13 YING et al.: ON COMBINING SHORTEST-PATH AND BACK-PRESSURE ROUTING OVER MULTIHOP WIRELESS NETWORKS 853 According to the definition of holds for all and :, the following inequality so (24) Similar to the analysis in Appendix B, we can further obtain Letting go to infinity, we can obtain that and and the theorem holds. Substituting these two inequalities into (24), we conclude that ACKNOWLEDGMENT The authors gratefully acknowledge the useful discussions with Prof. R. Srikant, University of Illinois at Urbana Champaign, and the insightful comments from the reviewers and associate editor. which further implies that holds for any, and We therefore have that (25) REFERENCES [1] L. Ying, S. Shakkottai, and A. Reddy, On combining shortest-path and back-pressure routing over multihop wireless networks, in Proc. IEEE INFOCOM, Rio de Janeiro, Brazil, 2009, pp [2] L. Tassiulas and A. Ephremides, Stability properties of constrained queueing systems and scheduling policies for maximum throughput in multihop radio networks, IEEE Trans. Autom. Control, vol. 37, no. 12, pp , Dec [3] L. Tassiulas and A. Ephremides, Dynamic server allocation to parallel queues with randomly varying connectivity, IEEE Trans. Inf. Theory, vol. 39, no. 2, pp , Mar [4] X. Lin and N. Shroff, Joint rate control and scheduling in multihop wireless networks, in Proc. IEEE CDC, Paradise Island, Bahamas, Dec. 2004, vol. 2, pp [5] A. Eryilmaz and R. Srikant, Fair resource allocation in wireless networks using queue-length-based scheduling and congestion control, in Proc. IEEE INFOCOM, 2005, vol. 3, pp [6] A. Stolyar, Maximizing queueing network utility subject to stability: Greedy primal-dual algorithm, Queue. Syst., vol. 50, no. 4, pp , Aug [7] M. Neely, E. Modiano, and C. Li, Fairness and optimal stochastic control for heterogeneous networks, in Proc. IEEE INFOCOM, Miami, FL, Mar. 2005, vol. 3, pp [8] M. J. Neely, Optimal backpressure routing for wireless networks with multi-receiver diversity, in Proc. CISS, 2006, pp [9] A. Eryilmaz and R. Srikant, Joint congestion control, routing and MAC for stability and fairness in wireless networks, IEEE J. Sel. Areas Commun., vol. 24, no. 8, pp , Aug [10] M. Neely, Energy optimal control for time-varying wireless networks, IEEE Trans. Inf. Theory, vol. 52, no. 7, pp , Jul [11] E. Yeh and R. Berry, Throughput optimal control of wireless networks with two-hop cooperative relaying, in Proc. IEEE ISIT, Jun. 2007, pp

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Perkins, Stable scheduling policies for fading wireless channels, IEEE/ACM Trans. Netw., vol. 13, no. 2, pp , Apr Lei Ying (M 08) received the B.E. degree from Tsinghua University, Beijing, China, in 2001, and the M.S. and Ph.D. degrees in electrical engineering from the University of Illinois at Urbana Champaign in 2003 and 2007, respectively. During Fall 2007, he was a Post-Doctoral Fellow with the University of Texas at Austin. He is currently an Assistant Professor with the Department of Electrical and Computer Engineering, Iowa State University, Ames. He has been named the Litton Assistant Professor in the department for His research interest is broadly in the area of information networks, including wireless networks, mobile ad hoc networks, P2P networks, and social networks. Dr. Ying received a Young Investigator Award from the Defense Threat Reduction Agency (DTRA) in 2009 and a National Science Foundation (NSF) CAREER Award in Sanjay Shakkottai (M 02) received the Ph.D. degree in electrical and computer engineering from the University of Illinois at Urbana Champaign in He is with the University of Texas at Austin, where he is currently an Associate Professor and the Engineering Foundation Centennial Teaching Fellow in the Department of Electrical and Computer Engineering. His current research interests include network architectures, algorithms, and performance analysis for wireless and sensor networks. Dr. Shakkottai received the National Science Foundation (NSF) CAREER Award in Aneesh Reddy is currently pursuing the Ph.D. degree in electrical and computer engineering under the guidance of Dr. Sanjay Shakkottai at the University of Texas at Austin. His research interests include distributed scheduling algorithms in wireless ad hoc networks. Shihuan Liu (S 10) received the B.E. degree in electronics engineering from Tsinghua University, Beijing, China, in 2008, and is currently pursuing the Ph.D. degree in electrical and computer engineering at Iowa State University, Ames. He currently performs research on resource allocation in wireless networks.