Self-Organization in Sensor and Actor Networks

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1 Self-Organization in Sensor and Actor Networks Falko Dressler University of Erlangen, Germany BICENTINNIAL BICINTINNIAL John Wiley & Sons, Ltd

Contents Foreword Preface About the Author List of Abbreviations xiii xv xix xxi I Self-Organization 1 1 Introduction to Self-Organization 3 1.1 Understanding self-organization 4 1.

2 Contents Foreword Preface About the Author List of Abbreviations xiii xv xix xxi I Self-Organization 1 1 Introduction to Self-Organization Understanding self-organization Application scenarios for self-organization 5 2 System Management and Control - A Historical Overview System architecture Management and control Centralized control Distributed Systems Self-organizing Systems 14 3 Self-Organization - Context and Capabilities Complex Systems Self-organization and emergence Systems lacking self-organization External control Blueprints and templates Self-X capabilities Consequences of emergent properties Operating self-organizing Systems Asimov's Laws of Robotics Attractors Limitations of self-organization 30

viii CONTENTS 4 Natural Self-Organization 33 4.1 Development of understandings 33 4.2 Examples in natural sciences 34 4.2.1 Biology 35 4.2.2 Chemistry 36 4.

3 viii CONTENTS 4 Natural Self-Organization Development of understandings Examples in natural sciences Biology Chemistry Differentiation self-organization and bio-inspired Exploring bio-inspired Bio-inspired techniques Self-organization vs bio-inspired 40 5 Self-Organization in Technical Systems General applicability Autonomous Systems Multi-robot Systems Autonomie networking Mobile Ad Hoc Networks Sensor and Actor Networks Operating Sensor and Actor Networks 46 6 Methods and Techniques Basic methods Positive and negative feedback Interactions among individuals and with the environment Probabilistic techniques Design paradigms for self-organization Design process Discussion of the design paradigms Developing nature-inspired self-organizing Systems Modeling self-organizing Systems Overview of modeling techniques Differential equation modeis Monte Carlo simulations Choosing the right modeling technique 60 Appendix I Self-Organization - Further Reading 61 II Networking Aspects: Ad Hoc and Sensor Networks 65 7 Mobile Ad Hoc and Sensor Networks Ad hoc networks Basic properties of ad hoc networks Mobile Ad Hoc Networks Wireless Sensor Networks Basic properties of sensor networks Composition of single-sensor nodes Communication in sensor networks 79

7.2.4 Energy aspects 83 7.2.5 Coverage and deployment 83 7.2.6 Comparison between MANETs and WSNs 85 7.2.7 Application examples 86 7.3 Challenges and research issues 90 7.3.1 Required functionality and constraints 90 7.

4 7.2.4 Energy aspects Coverage and deployment Comparison between MANETs and WSNs Application examples Challenges and research issues Required functionality and constraints Research objectives 92 8 Self-Organization in Sensor Networks Properties and objectives Categorization in two dimensions Horizontal dimension Vertical dimension Methods and application examples Mapping with primary self-organization methods Global State Location Information Neighborhood Information Local State Probabilistic techniques Medium Access Control Contention-based protocols Sensor MAC Synchronized listen/sleep cycles Performance aspects Performance evaluation Power-Control MAC protocol Conclusion Ad Hoc Routing Overview and categorization Address-based routing vs data-centric forwarding Classification of ad hoc routing protocols Principles of ad hoc routing protocols Destination Sequenced Distance Vector Dynamic Source Routing Ad Hoc on Demand Distance Vector Dynamic MANET on Demand Optimized route stability Dynamic address assignment Overview and centralized assignment Passive Duplicate Address Detection Dynamic Address Allocation Conclusion 149 ix

x CONTENTS 11 Data-Centric Networking 153 11.1 Overview and Classification 155 11.1.1 Data dissemination 156 11.1.2 Network-centric Operation 158 11.1.3 Related approaches 159 11.

5 x CONTENTS 11 Data-Centric Networking Overview and Classification Data dissemination Network-centric Operation Related approaches Flooding, gossiping and optimizations Flooding Pure gossiping Optimized gossiping Agent-based techniques Directed diffusion Basic algorithm Mobility support Energy efficiency Data aggregation Principles and objectives Aggregation topologies Conclusion Clustenng Principles of clustering Requirements and Classification ifc-means Hierarchical clustering Clustering for efficient routing Low-Energy Adaptive Clustering Hierarchy Hybrid Energy-Efncient Distributed Clustering Approach Conclusion 196 Appendix II Networking Aspects - Further Reading 199 III Coordination and Control: Sensor and Actor Networks Sensor and Actor Networks Introduction Compositum of SANETs - an example Properties and capabilities Components of SANET nodes Application examples Challenges and research objectives Communication and coordination Collaboration and task allocation Limitations Communication and Coordination Synchronization vs coordination 220

CONTENTS 14.1.1 Problem Statement 220 14.1.2 Logical time 222 14.1.3 Coordination 223 14.2 Time synchronization in WSNs and SANETs 223 14.2.1 Requirements and objectives 224 14.2.2 Conventional approaches 225 14.

6 CONTENTS Problem Statement Logical time Coordination Time synchronization in WSNs and SANETs Requirements and objectives Conventional approaches Algorithms for WSNs Distributed coordination Scalable coordination Selected algorithms Integrated sensor-actor and actor-actor coordination Problems with selfish nodes In-network Operation and control Conclusion Collaboration and Task Allocation Introduction to MRTA Primary objectives Classification and taxonomy Intentional Cooperation - auction-based task allocation Open Agent Architecture MURDOCH Dynamic negotiation algorithm Emergent Cooperation Stimulation by work Stimulation by State Conclusion 267 Appendix III Coordination and Control - Further Reading 269 xi IV Self-Organization Methods in Sensor and Actor Networks Self-Organization Methods - Revisited Self-organization methods in SANETs Positive and negative feedback Interactions among individuals and with the environment Probabilistic techniques Evaluation Criteria Scalability Energy considerations Energy management Transmission power management Network lifetime Definition of 'network lifetime' Scenario-based comparisons of network lifetime 300

xii CONTENTS V Bio-inspired Networking 303 18 Bio-inspired Systems 305 18.1 Introduction and overview 306 18.1.1 Ideas and concepts 306 18.1.2 Bio-inspired research fields 308 18.

7 xii CONTENTS V Bio-inspired Networking Bio-inspired Systems Introduction and overview Ideas and concepts Bio-inspired research fields Swarm Intelligence Principles of ant foraging Ant-based routing Ant-based task allocation Artificial Immune System Principles of the immune System Application examples Cellular signaling pathways Introduction to signaling pathways Applicability in SANETs Conclusion 329 Appendix IV Bio-inspired Networking - Further Reading 331 Bibliography 335 Index 355

Self-Organization in Autonomous Sensor/Actuator Networks [SelfOrg]

Self-Organization in Autonomous Sensor/Actuator Networks [SelfOrg] PD Dr.-Ing. Falko Dressler Computer Networks and Communication Systems Department of Computer Science University of Erlangen http://www7.informatik.uni-erlangen.de/~dressler/