Routing in Wireless

Sensor Networks
Matthias Handy Matthias Handy
University of Rostock University of Rostock
matthias.handy@uni matthias.handy@uni- -rostock.de rostock.de
2 2
Overview
Problem Problem Formulation Formulation
Challenges Challenges
Classification Classification
Flat Flat Routing Routing
Hierarchical Hierarchical Routing Routing
Location Location Based Based Routing Routing
Other Other
Open Research Open Research Issues Issues
Summary Summary
3 3
Problem Formulation
Deployment Area
Base Station
Sensor node Sensor node in event region
Sensor node outside the event region with routing task
4 4
Challenges for RPs in WSN
Node Node deployment deployment
Energy Energy vs. vs. Quality Quality
Data Data reporting reporting method method
time time- -driven driven
event event- -driven driven
query query- -driven driven
Node Node heterogeneity heterogeneity
Fault Fault tolerance tolerance
Scalability Scalability
Network Network dynamics dynamics
5 5
Challenges ctd.
Transmission media (MAC) Transmission media (MAC)
Connectivity Connectivity
Coverage Coverage
Data Data aggregation aggregation
6 6
Classification of RPs for WSN
Routing
Protocols
in WSN
Network
Structure
Protocol
Operation
Flat
Network
Routing
Hierarchical
Network
Routing
Location
Based
Routing
Negotiation
Based
Routing
Multipath
Based
Routing
Query
Based
Routing
QoS
Based
Routing
Coherent
Based
Routing
Source: Al-Karaki / Kamal, 2004
7 7
Flat Routing: Characteristics
No No distinct distinct roles roles
Data Data- -centric centric routing routing vs. vs. address address- -centric centric routing routing
Evolution of Evolution of flat flat routing routing: :
Flooding Flooding, , Gossiping Gossiping
SPIN & SPIN & Directed Directed Diffusion Diffusion
Sink
Source 1
Source 2
A
B
C
1
2
2
1+2
Source 1
Source 2
Sink
A
B
C
1
1
2
2
2
Address-centric
Data-centric
8 8
Flat Routing: Flooding & Gossiping
Flooding Flooding: :
Node Node A A sends sends data data to all to all neighbors neighbors
Neighbors Neighbors of A send of A send data data to all to all
their their neighbors neighbors
Until Until all all nodes nodes received received the the data data
Gossiping Gossiping: :
bases bases on on flooding flooding
data data is is only only forwarded forwarded to to one one
randomly randomly selected selected neighbor neighbor
saves saves energy energy
Gossiping Example
9 9
Flat Routing: SPIN
S Sensor ensor P Protocols rotocols for for I Information via nformation via N Negotiation egotiation
(Kulik et al. 2002) (Kulik et al. 2002)
Motivation: Problems of Motivation: Problems of classic classic flooding flooding
Implosion Implosion
Overlap Overlap
Resource Resource Blindness Blindness
Solution: Solution: SPIN SPIN protocol protocol family family
SPIN SPIN- -PP ( PP (for for point point- -to to- -point point media) media)
SPIN SPIN- -EC (SPIN EC (SPIN- -PP PP with with a a low low energy energy threshold threshold) )
SPIN SPIN- -BC ( BC (for for broadcast broadcast media) media)
SPIN SPIN- -RL (SPIN RL (SPIN- -BC BC for for lossy lossy networks networks) )
Key Key features features of SPIN of SPIN protocols protocols
Negotiation Negotiation ( (meta meta data data) ) Implosion, Implosion, Overlap Overlap
Resource Resource adaptation adaptation Resource Resource Blindness Blindness
3 3 message message types types: :
ADV ADV
REQ REQ
DATA DATA
A
B C
D
(a)
(a)
(a)
(a)
source
sink
Implosion
Overlap
B
C
A
q
r
s
(q,r) (r,s)
10 10
Flat Routing: SPIN (2)
SPIN-PP
optimized for networks using point-to point transmission media
B
A
(1)
B
A
(2)
B
A
(3)
B
A
(5)
B
A
(6)
A
D
V
R
E
Q
D
A
T
A
R
E
Q
R
E
Q
R
E
Q
B
A
(4)
A
D
V
A
D
V
A
D
V
A
D
V
A
D
V
D
A
T
A D
A
T
A
D
A
T
A
SPIN-EC: a node participates only in the three-stage SPIN-PP-protocol,
if it believes that in complete all three stages
11 11
Flat Routing: SPIN (3)
SPIN-BC
optimized for networks using broadcast transmission media
B
C
E
A
D
(1)
ADV
B
C
E
A
D
REQ
(2)
B
C
E
A
D
(3)
DATA
B
C
E
A
D
(4)
G
F
nodes with data
nodes without data
nodes waiting to tx REQ
transmission range
nodes receiving ADV set a
random timer before broad-
casting REQ
a node cancels its timer when
it overhears a REQ from a
different node on the same
ADV
DATA is broadcasted only
once, regardless how many
REQs are broadcasted
SPIN-RL
SPIN-BC for lossy networks
adjustments for reliability:
nodes request data of
overheard, not answered
REQ messages
multiple REQs for the same
data are answered
12 12
Flat Routing: Directed Diffusion
Elements of DD Elements of DD ( (Intanagonwiwat Intanagonwiwat 2001) 2001)
Data Data is is named named using using attribute attribute- -value value pairs pairs
interests interests are are disseminated disseminated througout througout the the
wsn wsn
dissemination dissemination sets sets up up gradients gradients to " to "draw draw" "
events events from from sources sources to to sinks sinks along along multiple multiple
paths paths
the the network network reinforces reinforces subset subset of of available available
pathes pathes from from source source to sink to sink
type = four-legged animal
interval = 20 ms
duration = 10 seconds
rect = [-100, 100, 200, 400]
A simple task in a DD network
a) Interest propagation b) Initial gradients set-up c) Data delivery
Interest is 'injected' into the network at the sink node!
13 13
3. gradient
(data rate,
neighbor ID)
1. interest x
Flat Routing: Directed Diffusion (2)
Interests and Gradients
1
sink
2. interest cache lookup*
* if entry and gradient exist, only
timestamp and duration are updated
4. interest x
neighbor selection for interest forwarding
broadcast (flooding)
geographic routing
use cached data
Data Propagation
source
1
rect
rect
type = four-legged animal interval = 1s
rect = [-100, 100, 200, 400] timestamp = 01:20:40
expiresAt = 01:30:40
I
n
t
e
r
e
s
t
x
1. target detection
2. interest cache lookup
3. data msg
4. interest cache & data cache lookup
4. data msg
type = four-legged animal
instance = goat
location = [125, 220]
intensity = 0.6
confidence = 0.85
timestamp = 01:22:40
Data msg
14 14
Flat Routing: Directed Diffusion (3)
Reinforcement & Negative Reinforcement
- sink may reinforce one particular neighbor
(not path!)
- for higher data rate
- sink re-sends interest with smaller interval to
selected node
(in the picture: thick path is reinforced)
Negative reinforcement to
'repair' degraded links by
timeout high data rate gradients
(implicit degradation)
re-sending interest with lower data rate
(explicit degradation)
All interactions in Directed Diffusion are based on local rules!
15 15
Flat Routing: GBR
G Gradient radient B Based ased R Routing outing ( (Schurgers Schurgers, , Srivastava Srivastava 2001) 2001)
Based Based on on Directed Directed Diffusion Diffusion
DD's DD's interest interest messages messages count count hops to hops to the the sinks sinks
height height of of the the node node = = hop hop count count to sink ( to sink (minimum minimum) )
gradient gradient of a link = of a link = height height difference difference of of both both link link endpoints endpoints
reduces reduces DD's DD's energy energy consumption consumption by by
Data Data Combining Combining Entities Entities (DCE) (DCE)
Network Network Traffic Traffic Spreading Spreading (NTS) (NTS)
2
2
3
3
2
1 0
1
1
1
1 0
1
0
1
0
Packet is forwarded on the link with the largest gradient!
1
1
Gradient
1 Node w. height
3
Source
Sink
3
16 16
Flat Routing: GBR (2)
B = Area length, R = Tx range
Data Combining Entities (DCE)
Idea: Nodes with multiple streams from
the same event flowing through them
combine the data
sink source
DCE
DCEs reduce energy consumption but increase delay!
17 17
Flat Routing: GBR (3) Network Traffic Spreading (NTS)
Stochastic scheme:
2
3
2
1 0
1
1
1
1
1
0
source
sink
source chooses next hop randomly
Energy-Based scheme:
2
3
3
1 0
1
1
1
1
0
0
source
sink
remaining energy
low-energy nodes increase height
neighbor's heights are updated
Stream-based scheme:
2
3
2
1 0
1
1
1
1
0
source
sink
1
*
* height = 3
Idea: divert new streams from nodes
that are currently part of the path of
other streams
stream node tells all neighbors
(except stream origin) that
its height has increased
18 18
Classification
Routing
Protocols
in WSN
Network
Structure
Protocol
Operation
Flat
Network
Routing
Hierarchical
Network
Routing
Location
Based
Routing
Negotiation
Based
Routing
Multipath
Based
Routing
Query
Based
Routing
QoS
Based
Routing
Coherent
Based
Routing
Source: Al-Karaki / Kamal, 2004
19 19
Hierarchical Routing: Characteristics
Intend Intend to to increase increase flat flat
networks networks' '
efficiency efficiency
scalability scalability
role role based based routing routing schemes schemes
Cluster Cluster heads heads
Cluster Cluster members members
Often Often step step- -wise wise organized organized: :
1. Cluster 1. Cluster formation formation
2. 2. Routing Routing
Challenges Challenges
Selection Selection of of CHs CHs
Cluster Cluster formation formation
Medium Medium access access
CM
CH
Sink
2-level hierarchical routing scheme
20 20
Hierarchical Routing: LEACH
L Low ow- -E Energy nergy A Adaptive daptive C Clustering lustering H Hierarchy ierarchy ( (Heinzelman Heinzelman '00) '00)
Rotating Rotating- -CH CH- -Scheme Scheme / / CHs CHs change change from from round round to to round round
CM
CH
Network Model
Base Station
Threshold Computation
( ) G n n T = 0
( ) G n
P
r P
P
n T
|
.
|

\
|

=
1
mod 1
P = cluster head probability
r = number of current round (not
frame!)
G = nodes that have not been
clusterhead in the last 1/P
rounds
21 21
Hierarchical Routing: LEACH (2)
Evaluation: NS2-Simulations
T
o
t
a
l

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g
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s
i
p
a
t
e
d
i
n

s
y
s
t
e
m
[
J
]
Network diameter
LEACH energy dissipation
100 nodes, message-length 2kb
Energy savings mainly depend on
data aggregation ratio in cluster
heads!
22 22
Hierarchical Routing: LEACH (3)
XLEACH XLEACH eXtended eXtended LEACH (Handy et al. 2002) LEACH (Handy et al. 2002)
cluster cluster head head selection selection based based on on energy energy level level: :
( )
(
(

|
|
.
|

\
|

|
.
|

\
|
+
|
.
|

\
|

=
max _
_
_
_
1
1
1
mod 1
n
current n
s
x ma n
current n
E
E
P
div r
E
E
P
r P
P
n T
energy level correction
574
746
1104
1337
0
500
1000
1500
LEACH Improved CHS
L
i
f
e
t
i
m
e

(
R
o
u
n
d
s
)
FND
HNA
XLEACH
Nodes: 200
Area: 200m*200m
Base Station Pos.: (100,300)m
Initial Energy / Node: 1 J
Message Length: 200 bit
CH-Probability: 0.05
Path-Loss (intra-cluster): 2
Path-Loss (to BS): 2.5
FND=First Node Dies, HNA=Half Nodes Alive
23 23
Hierarchical Routing: TEEN / APTEEN
T Threshold hreshold sensitive sensitive E Energy nergy E Efficient fficient sensor sensor N Network etwork
protocol protocol ( (Manjeshwar Manjeshwar/ /Agrawal Agrawal '01) '01)
LEACH LEACH- -based based with with Multi Multi- -Level Level- -CHs CHs
Network Model
Base Station
simple node 1st level CH 2nd level CH
Principles:
LEACH: One sensor sample / frame and
node (Periodic)
TEEN: sample sending depends on
thresholds (Event-driven)
Hard Threshold (H) / Soft Threshold (S)
Cluster
change
time
Para-
meters
Attribute > H
CH
receives
msg
(Attr. > H)
&
(|Attr.-SV|>S)
CH
receives
msg
24 24
Hierarchical Routing: TEEN / APTEEN (2)
TEEN's TEEN's drawback drawback: no : no transmissions transmissions below below thresholds thresholds
Solution: Solution: A Adaptive daptive P Periodic eriodic T Threshold hreshold- -sensitive sensitive E Energy nergy
E Efficient fficient sensor sensor N Network etwork protocol protocol (APTEEN) (APTEEN)
CH CH broadcasts broadcasts: :
Attributes Attributes
Thresholds Thresholds
TDMA TDMA- -Schedule Schedule
Count Count Time Time max. max. period period between between two two successive successive reports reports
Cluster
change
time
Parameters
& TDMA-Sched.
Attribute > H
CH
receives
msg
(Attr. > H)
&
(|Attr.-SV|>S)
CH
receives
msg
CH
receives
msg
Slot for
node i
CH
receives
msg
Slot for
node i
25 25
Hierarchical Routing: TEEN / APTEEN (3)
Evaluation: NS2-Simulations
Time (s)
N
u
m
b
e
r
o
f

N
o
d
e
s
A
l
i
v
e
Number of Nodes Alive
APTEEN/TEEN perform better
than LEACH because of event-
driven operation
TEEN performs better than
APTEEN because of no
periodic transmissions
TEEN/APTEEN parameters
allow energy/quality trade-offs
TDMA-schedule requires clock
synchronization
Results:
26 26
Hierarchical Routing: Sensor Aggregates Routing
Fang/Zhao/ Fang/Zhao/Guibas Guibas '03 '03
Sensor Sensor aggregate aggregate: : set set of of nodes nodes in a in a network network satisfying satisfying a a grouping grouping predicate predicate
Protocols Protocols: : DAM DAM, EBAM, EMLAM , EBAM, EMLAM
Target Monitoring Scenario
Task: Determine number and appr.
location of targets in a 2D-field
targets are signal sources
each single target is assigned
to a 'cluster leader'
DAM: Distributed Aggregate Management
Purpose: Elect local cluster leaders
Leader election by comparing node's height
in the signal field 'landscape'
(Leader is higher than all its neighbors)
sample signal
amplitude field
Only one packet type for DAM: the 'DAM-packet'
27 27
Hierarchical Routing: Sensor Aggregated Routing (2)
DAM: Distributed Aggregate Management
DAM-Packet:
MaxPr MaxID TransPr TransID
stored sensor state at each node:
maxPrHeard, leaderID,
myPr, myID, myParent
participating
A node forwards a received DAM-packet p only if:
p.maxPr > maxPrHeard && p.transPr + > myPr
= threshold to filter out tiny spurious peaks
DAM problem: undercounting (multiple targets belong to a single cluster leader)
28 28
Hierarchical Routing: Sensor Aggregated Routing (3)
EBAM: Energy based activity monitoring
DAM problem: undercounting (multiple targets belong to a single cluster leader)
EBAM solution: estimate volume of each cluster
single source
signal profile
superposed
signal
ceiling
EBAM operation
after DAM-phase, each leaf sensor
reports its reading (up to ceiling) to its
parent
parents aggregate reports of all leafs
and report to their parents
until cluster leader (root) is reached
leaf 1st level parent 2nd level parent
3rd protocol EMLAM:
incorporates target's movement
cluster leader
29 29
Classification
Routing
Protocols
in WSN
Network
Structure
Protocol
Operation
Flat
Network
Routing
Hierarchical
Network
Routing
Location
Based
Routing
Negotiation
Based
Routing
Multipath
Based
Routing
Query
Based
Routing
QoS
Based
Routing
Coherent
Based
Routing
Source: Al-Karaki / Kamal, 2004
30 30
Location Based Routing: Characteristics
Nodes Nodes addressed addressed by by location location
Location Location obtained obtained by by
Distance Distance estimation estimation
Neighbor Neighbor discovery discovery
Beacons Beacons
GPS GPS
Frank Frank said said it it before before ; ;- -) )
31 31
Location Based Routing: GAF
G Geographical eographical A Adaptive daptive F Fidelity ( idelity (Xu Xu et al. 2001) et al. 2001)
Motivation: Motivation: Idle Idle energy energy dominates dominates energy energy consumption consumption in in Ad Ad- -hoc hoc- -networks networks
GAF GAF- -Solution Solution: : put put redundant redundant nodes nodes in in sleep sleep mode mode by by using using a a virtual virtual grid grid
1
2
3
4
5
nominal radio range
if node 2 is awake 3 and 4
are extraneous for communication
between 1 and 5
Discover redundant nodes with a virtual grid:
1
2
3
4
5
A B C
r
r r r
5
R
r
R=nominal radio range
Virtual grid size:
32 32
Location Based Routing: GAF (2)
GAF state transitions
Three states in GAF:
sleeping: power down radio
discovery: find nodes within the
same grid (initial state)
active: node participates in routing
node starts in discovery state
after T
d
, node
broadcasts discovery message
enters active state
sets Timer T
a
periodically re-broadcasts discovery
message while in active state
timer can be suppressed by other discovery
messages
after T
a
, node returns to discovery state
active node can change to sleep state,
when a higher-ranked node handles routing
33 33
Other: DCP (Bluetooth)
D Data ata C Collection ollection P Protocol rotocol (Handy '04) (Handy '04)
Cooperation Cooperation Strategy Strategy: Clustering : Clustering
Cluster Cluster Head Head, Cluster , Cluster Members Members
Periodic Periodic Cluster Cluster Reorganization Reorganization
Energy Energy consumption consumption
Topology Topology changes changes
DCP DCP does does not not maintain maintain connections connections during during
steady steady- -state state ( (unlike unlike Bluetooth Bluetooth scatternets scatternets!) !)
1
3
2
cluster head
cluster
members
Cluster
- Cluster head selection
- Cluster formation
- PFA delivery
Collection of Sensor Data
Setup Phase
Steady-State Phase
34 34
Other: DCP (Bluetooth)
B
1
2
3
4
5
7
6
8
10
9
11
1. Cluster Head Selection
randomly determined
2. Base station Inquiry
detect CH and 1-hop-CM
3. Base station transmits PFA
first CMs (1,3,4) then CHs (2)
4. Discovered nodes turn off I-Scan
"invisible" mode
5. 1-hop-distant CH inquiry
CM and CH discovered by BS are not
detected
6. 1-hop-distant CH transmit PFA
first CMs (6) then CHs (5,7)
B
S
-
C
l
u
s
t
e
r
12
Abbrevations:
BS = Base Station
CM = Cluster Member
CH = Cluster Head
PFA = Packet Forward Address
Setup Phase in Detail
35 35
Other: DCP (Bluetooth)
Steady State Phase in Detail
CM CM transfer transfer sensor sensor data data to CH to CH
CH CH preprocess preprocess sensor sensor data data ( (data data
compression compression/ /fusion fusion) )
CH CH forward forward aggregated aggregated data data to PFA/BS to PFA/BS
B
1
2
3
4
5
7
6
8
10
9
11
B
S
-
C
l
u
s
t
e
r
12
Nodes disconnect immediately
clusters are not limited to piconet size
energy savings for low data rates
reduced interference
(How many Bluetooth piconets fit into a
room?)
Periodical or event-triggered transmission schemes are applicable!
36 36
Open Research Issues*
Exploit Exploit Redundancy Redundancy
Tiered Tiered Architectures Architectures
Exploit Exploit spatial spatial diversity diversity and and density density of of sensor sensor/ /actuator actuator
networks networks
Achieve Achieve desired desired global global behavior behavior with with adaptive adaptive localized localized
algorithms algorithms
Leverage Leverage data data processing processing inside inside the the network network and and exploit exploit
computation computation near near data data sources sources
Time and Time and location location synchronization synchronization
Self Self- -configuration configuration
Secure Secure routing routing
* taken from: Al-Karaki & Kamal 2004
37 37
Summary
Routing Routing protocols protocols for for wired wired networks networks and and ad ad- -hoc hoc networks networks are are not not
applicable applicable for for sensor sensor networks networks
Routing Routing protocols protocols for for sensor sensor networks networks have have to to be be
energy energy conserving conserving
scalable scalable
robust robust
fault tolerant fault tolerant
self self- -organizing organizing
Most Most routing routing protocols protocols for for sensor sensor networks networks can can be be categorized categorized into into
flat flat ( (data data- -centric centric) )
hierarchical hierarchical
location location- -based based
Directed Directed Diffusion, SPIN and LEACH Diffusion, SPIN and LEACH are are " "ancestors ancestors" of " of many many
modern modern routing routing protocols protocols for for sensor sensor networks networks
38 38
Thank Thank You You! !
Contact Contact: : matthias.handy@uni matthias.handy@uni- -rostock.de rostock.de