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Algorithmic Foundation of Robotics VIII pp 35–49Cite as

Mobile Wireless Sensor Network Connectivity Repair with K-Redundancy

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Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 57))

Abstract

Connectivity is an important requirement for wireless sensor networks especially in real-time monitoring and data transfer applications. However, node movements and failures change the topology of the initial deployed network, which can result in partitioning of the communication graph. In this paper, we present a method for maintaining and repairing the communication network of a dynamic mobile wireless sensor network. We assume that we cannot control the motion of wireless sensor nodes, but there are robots whose motion can be controlled by the wireless sensor nodes to maintain and repair the connectivity of the network. At the heart of our method lies a novel graph property, k-redundancy, which is a measure of the importance of a node to the connectivity of a network.We first show that this property can be used to estimate repair time of a dynamic network. Then, we present a dynamic repair algorithm that minimizes expected repair time. Finally, we show the effectiveness of our method with extensive simulations and its feasibility with experiments on real robots and motes.

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Author information

Authors and Affiliations

  1. Washington University in St. Louis, 1 Brookings Dr., St. Louis, MO, 63130, USA

    Nuzhet Atay & Burchan Bayazit

Authors
  1. Nuzhet Atay
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  2. Burchan Bayazit
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Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering, The Johns Hopkins University, 21218, Baltimore, Maryland, USA

    Gregory S. Chirikjian

  2. Carnegie Mellon University, 5000 Forbes Ave., Newell-Simon Hall 3211, 15213, Pittsburgh, PA, USA

    Howie Choset

  3. Sistemas Digitales, Instituto Tecnológico, Autónomo de México, Rio Hondo 1, Progreso Tizapán, 01080, México, D.F., México

    Marco Morales

  4. Department of Mechanical Engineering, Northwestern University, 2145 Sheridan Road, 60208, Evanston, IL, USA

    Todd Murphey

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Atay, N., Bayazit, B. (2009). Mobile Wireless Sensor Network Connectivity Repair with K-Redundancy. In: Chirikjian, G.S., Choset, H., Morales, M., Murphey, T. (eds) Algorithmic Foundation of Robotics VIII. Springer Tracts in Advanced Robotics, vol 57. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-00312-7_3

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  • DOI: https://doi.org/10.1007/978-3-642-00312-7_3

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-00311-0

  • Online ISBN: 978-3-642-00312-7

  • eBook Packages: EngineeringEngineering (R0)

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