implementation of a wireless mesh network of ultra light mavs with dynamic routing
TRANSCRIPT
Implementation of a Wireless Mesh Network of UltraLight MAVs with Dynamic Routing
Alberto Jimenez-Pacheco
Laboratory of Mobile Communications, EPFL, [email protected]
Globecom Wi-UAV Workshop 2012Anaheim, December 7th 2012
Joint work with: Denia Bouhired, Yannick Gasser, Jean-Christophe Zufferey,
Dario Floreano and Bixio [email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 1 / 17
Outline
1 Introduction
2 Flying Platform
3 Communication Systems and Dynamic Routing
4 Experimental results
5 Conclusions and future work
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 2 / 17
Introduction
SMAVNET: Swarm Micro Air Vehicle NETwork
Framework: Swarming network of unmanned micro air vehicles fordeployment in outdoor areas and challenging terrain:
Disaster areas of difficult accessUrban environments
⇒ Fast deployment + high maneuverability + no pre-existinginfrastructure
Goal: To improve the wireless communications
Extend communication rangeAvoid obstacles (nLOS communication)
Challenge: system must cope with
Fast variability of the wireless channelHigh mobility of the MAVs
Proposed solution: WiFi + dynamic routing with OLSR (with linkquality extensions)
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 3 / 17
Introduction
SMAVNET: Swarm Micro Air Vehicle NETwork
Framework: Swarming network of unmanned micro air vehicles fordeployment in outdoor areas and challenging terrain:
Disaster areas of difficult accessUrban environments
⇒ Fast deployment + high maneuverability + no pre-existinginfrastructure
Goal: To improve the wireless communications
Extend communication rangeAvoid obstacles (nLOS communication)
Challenge: system must cope with
Fast variability of the wireless channelHigh mobility of the MAVs
Proposed solution: WiFi + dynamic routing with OLSR (with linkquality extensions)
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 3 / 17
Introduction
SMAVNET: Swarm Micro Air Vehicle NETwork
Framework: Swarming network of unmanned micro air vehicles fordeployment in outdoor areas and challenging terrain:
Disaster areas of difficult accessUrban environments
⇒ Fast deployment + high maneuverability + no pre-existinginfrastructure
Goal: To improve the wireless communications
Extend communication rangeAvoid obstacles (nLOS communication)
Challenge: system must cope with
Fast variability of the wireless channelHigh mobility of the MAVs
Proposed solution: WiFi + dynamic routing with OLSR (with linkquality extensions)
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 3 / 17
Introduction
SMAVNET: Swarm Micro Air Vehicle NETwork
Framework: Swarming network of unmanned micro air vehicles fordeployment in outdoor areas and challenging terrain:
Disaster areas of difficult accessUrban environments
⇒ Fast deployment + high maneuverability + no pre-existinginfrastructure
Goal: To improve the wireless communications
Extend communication rangeAvoid obstacles (nLOS communication)
Challenge: system must cope with
Fast variability of the wireless channelHigh mobility of the MAVs
Proposed solution: WiFi + dynamic routing with OLSR (with linkquality extensions)
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 3 / 17
Flying Platform
Flying Platform
Built on expanded poly-propylene
Total weight ≈ 450 gVery small inertiaSafe for third parties
Payload ≈ 150 gTight constraints forcommunication equipment:weight, power consumption,computing power
Propelled by DC electrical motor inthe rear end
Elevons: two control surfaces thatserve as combined ailerons andelevators
LiPo battery (≈ 60 min autonomy)
80 cm
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motor and propeller
battery
elevons
autopilot & embedded PC
pitot tube
wifi card
Drone cruise speed ≈ 10 m/s
Can operate in light breeze,with wind speeds up to 7 m/s
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 4 / 17
Flying Platform
Flying Platform
Built on expanded poly-propylene
Total weight ≈ 450 gVery small inertiaSafe for third parties
Payload ≈ 150 gTight constraints forcommunication equipment:weight, power consumption,computing power
Propelled by DC electrical motor inthe rear end
Elevons: two control surfaces thatserve as combined ailerons andelevators
LiPo battery (≈ 60 min autonomy)
80 cm
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motor and propeller
battery
elevons
autopilot & embedded PC
pitot tube
wifi card
Drone cruise speed ≈ 10 m/s
Can operate in light breeze,with wind speeds up to 7 m/s
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 4 / 17
Flying Platform
Flying Platform
Built on expanded poly-propylene
Total weight ≈ 450 gVery small inertiaSafe for third parties
Payload ≈ 150 gTight constraints forcommunication equipment:weight, power consumption,computing power
Propelled by DC electrical motor inthe rear end
Elevons: two control surfaces thatserve as combined ailerons andelevators
LiPo battery (≈ 60 min autonomy)
80 cm
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motor and propeller
battery
elevons
autopilot & embedded PC
pitot tube
wifi card
Drone cruise speed ≈ 10 m/s
Can operate in light breeze,with wind speeds up to 7 m/s
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 4 / 17
Flying Platform
Flying Platform
Built on expanded poly-propylene
Total weight ≈ 450 gVery small inertiaSafe for third parties
Payload ≈ 150 gTight constraints forcommunication equipment:weight, power consumption,computing power
Propelled by DC electrical motor inthe rear end
Elevons: two control surfaces thatserve as combined ailerons andelevators
LiPo battery (≈ 60 min autonomy)
80 cm
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conservativecommunication
range of 135m
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!"
motor and propeller
battery
elevons
autopilot & embedded PC
pitot tube
wifi card
Drone cruise speed ≈ 10 m/s
Can operate in light breeze,with wind speeds up to 7 m/s
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 4 / 17
Flying Platform
Flying Platform
Built on expanded poly-propylene
Total weight ≈ 450 gVery small inertiaSafe for third parties
Payload ≈ 150 gTight constraints forcommunication equipment:weight, power consumption,computing power
Propelled by DC electrical motor inthe rear end
Elevons: two control surfaces thatserve as combined ailerons andelevators
LiPo battery (≈ 60 min autonomy)
80 cm
!"#$ %$ &'() !*"+# ,"+# (-. -/01--. )23)."4)+05 4'1) -/0 -( 5-(0 4'0)."'6'+1 ,"07 ' 8'9:;4-/+0)1 3.-3)66).$ <7) .-8-0 "5 )=/"33)1 ,"07 '+ '/0-3"6-0>)48)11)1 ?"+/2> @"!" 1-+#6) '+1 AB& C-+6* (-. 6-##"+# 3/.3-5)5D$
1 cm
WiFi module computer autopilot
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−200 0 200−300
−200
−100
0
100
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300
Y [m
]
X [m]
0 50 100 150 200 2500
2
4
6
8
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12
numb
er o
f mes
sage
sre
ceive
d by
the
robo
t
distance from base [m]
conservativecommunication
range of 135m
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motor and propeller
battery
elevons
autopilot & embedded PC
pitot tube
wifi card
Drone cruise speed ≈ 10 m/s
Can operate in light breeze,with wind speeds up to 7 m/s
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 4 / 17
Flying Platform
Flying Platform
Built on expanded poly-propylene
Total weight ≈ 450 gVery small inertiaSafe for third parties
Payload ≈ 150 gTight constraints forcommunication equipment:weight, power consumption,computing power
Propelled by DC electrical motor inthe rear end
Elevons: two control surfaces thatserve as combined ailerons andelevators
LiPo battery (≈ 60 min autonomy)
80 cm
!"#$ %$ &'() !*"+# ,"+# (-. -/01--. )23)."4)+05 4'1) -/0 -( 5-(0 4'0)."'6'+1 ,"07 ' 8'9:;4-/+0)1 3.-3)66).$ <7) .-8-0 "5 )=/"33)1 ,"07 '+ '/0-3"6-0>)48)11)1 ?"+/2> @"!" 1-+#6) '+1 AB& C-+6* (-. 6-##"+# 3/.3-5)5D$
1 cm
WiFi module computer autopilot
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#6)5 ,).) /5)1 07'0 "436)4)+0 07) ZNM$PP+ 50'+1'.1 '+10.'+54"0 "+ 07) U AV[ 8'+1$ <7"5 "5 "+0).)50"+# ,"07 .)53)900- 0.'+54"55"-+5 "+ 07) M$X AV[ 8'+1 8)9'/5) "0 '66-,5 (-.6)55 "+0).().)+9) ,"07 07) 9-+5"1).'86) +/48). -( 1)O"9)59/..)+06* /5)1 "+ 07"5 8'+1$ Y-+#6)5 '.) 9-+"#/.)1 (-. '1;7-9 4-1) '+1 7'O) ' 9-44/+"9'0"-+ .'+#) -( +)'.6* UNN4 6"+);-(;5"#70$ !-. 07) 3/.3-5) -( 07) )23)."4)+05 .)3-.0)1
I7003JQQ,,,$/;86-2$9-4X7003JQQ+)0#)'.$9-4
−200 0 200−300
−200
−100
0
100
200
300
Y [m
]
X [m]
0 50 100 150 200 2500
2
4
6
8
10
12
numb
er o
f mes
sage
sre
ceive
d by
the
robo
t
distance from base [m]
conservativecommunication
range of 135m
!"#$ Z$ F7'.'90)."['0"-+ -( 07) 9-44/+"9'0"-+ 8)0,))+ 07) 8'5) C50'.D'+1 .-8-0$ <7) 0-3 #.'37 57-,5 07) 0.'S)90-.* -( 07) .-8-0 3).(-.4"+#07) 97'.'90)."['0"-+$ <7) 8-00-4 #.'37 57-,5 07) 4"+"4/4> 4)1"'+ '+14'2"4/4 +/48). -( 4)55'#)5 .)9)"O)1 8* 07) .-8-0 -O). UN 45 '5 '(/+90"-+ -( 1"50'+9) (.-4 07) 8'5)$
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R\$ ]T&G?<&
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motor and propeller
battery
elevons
autopilot & embedded PC
pitot tube
wifi card
Drone cruise speed ≈ 10 m/s
Can operate in light breeze,with wind speeds up to 7 m/s
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 4 / 17
Flying Platform
Flying Platform
Built on expanded poly-propylene
Total weight ≈ 450 gVery small inertiaSafe for third parties
Payload ≈ 150 gTight constraints forcommunication equipment:weight, power consumption,computing power
Propelled by DC electrical motor inthe rear end
Elevons: two control surfaces thatserve as combined ailerons andelevators
LiPo battery (≈ 60 min autonomy)
80 cm
!"#$ %$ &'() !*"+# ,"+# (-. -/01--. )23)."4)+05 4'1) -/0 -( 5-(0 4'0)."'6'+1 ,"07 ' 8'9:;4-/+0)1 3.-3)66).$ <7) .-8-0 "5 )=/"33)1 ,"07 '+ '/0-3"6-0>)48)11)1 ?"+/2> @"!" 1-+#6) '+1 AB& C-+6* (-. 6-##"+# 3/.3-5)5D$
1 cm
WiFi module computer autopilot
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I7003JQQ,,,$/;86-2$9-4X7003JQQ+)0#)'.$9-4
−200 0 200−300
−200
−100
0
100
200
300
Y [m
]
X [m]
0 50 100 150 200 2500
2
4
6
8
10
12
numb
er o
f mes
sage
sre
ceive
d by
the
robo
t
distance from base [m]
conservativecommunication
range of 135m
!"#$ Z$ F7'.'90)."['0"-+ -( 07) 9-44/+"9'0"-+ 8)0,))+ 07) 8'5) C50'.D'+1 .-8-0$ <7) 0-3 #.'37 57-,5 07) 0.'S)90-.* -( 07) .-8-0 3).(-.4"+#07) 97'.'90)."['0"-+$ <7) 8-00-4 #.'37 57-,5 07) 4"+"4/4> 4)1"'+ '+14'2"4/4 +/48). -( 4)55'#)5 .)9)"O)1 8* 07) .-8-0 -O). UN 45 '5 '(/+90"-+ -( 1"50'+9) (.-4 07) 8'5)$
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R\$ ]T&G?<&
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motor and propeller
battery
elevons
autopilot & embedded PC
pitot tube
wifi card
Drone cruise speed ≈ 10 m/s
Can operate in light breeze,with wind speeds up to 7 m/s
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 4 / 17
Flying Platform
Flying Platform
Built on expanded poly-propylene
Total weight ≈ 450 gVery small inertiaSafe for third parties
Payload ≈ 150 gTight constraints forcommunication equipment:weight, power consumption,computing power
Propelled by DC electrical motor inthe rear end
Elevons: two control surfaces thatserve as combined ailerons andelevators
LiPo battery (≈ 60 min autonomy)
80 cm
!"#$ %$ &'() !*"+# ,"+# (-. -/01--. )23)."4)+05 4'1) -/0 -( 5-(0 4'0)."'6'+1 ,"07 ' 8'9:;4-/+0)1 3.-3)66).$ <7) .-8-0 "5 )=/"33)1 ,"07 '+ '/0-3"6-0>)48)11)1 ?"+/2> @"!" 1-+#6) '+1 AB& C-+6* (-. 6-##"+# 3/.3-5)5D$
1 cm
WiFi module computer autopilot
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I7003JQQ,,,$/;86-2$9-4X7003JQQ+)0#)'.$9-4
−200 0 200−300
−200
−100
0
100
200
300
Y [m
]
X [m]
0 50 100 150 200 2500
2
4
6
8
10
12
numb
er o
f mes
sage
sre
ceive
d by
the
robo
t
distance from base [m]
conservativecommunication
range of 135m
!"#$ Z$ F7'.'90)."['0"-+ -( 07) 9-44/+"9'0"-+ 8)0,))+ 07) 8'5) C50'.D'+1 .-8-0$ <7) 0-3 #.'37 57-,5 07) 0.'S)90-.* -( 07) .-8-0 3).(-.4"+#07) 97'.'90)."['0"-+$ <7) 8-00-4 #.'37 57-,5 07) 4"+"4/4> 4)1"'+ '+14'2"4/4 +/48). -( 4)55'#)5 .)9)"O)1 8* 07) .-8-0 -O). UN 45 '5 '(/+90"-+ -( 1"50'+9) (.-4 07) 8'5)$
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R\$ ]T&G?<&
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motor and propeller
battery
elevons
autopilot & embedded PC
pitot tube
wifi card
Drone cruise speed ≈ 10 m/s
Can operate in light breeze,with wind speeds up to 7 m/s
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 4 / 17
Flying Platform
Flying Platform: Electronic Systems
Two electronic subsystems integrated in the EPP body (surrounded withprotective foam):
Autopilot
Uses a dedicated DSP to implement flight control strategies
Integrates a GPS unit, pressure sensors and inertial sensors
It enables autonomous take-off, followed by way-point navigation atpreset altitudes, and autonomous landing
Embedded Computer
Responsible for mission control: data logging, WiFi communications,camera control, etc
Gumstix Overo-Tide COM (Computer on Module)
ARM arch @720 MHz, OS Angstrom Linux, 4.3 g, 58× 17× 4.2 mm
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 5 / 17
Flying Platform
Flying Platform: Electronic Systems
Two electronic subsystems integrated in the EPP body (surrounded withprotective foam):
Autopilot
Uses a dedicated DSP to implement flight control strategies
Integrates a GPS unit, pressure sensors and inertial sensors
It enables autonomous take-off, followed by way-point navigation atpreset altitudes, and autonomous landing
Embedded Computer
Responsible for mission control: data logging, WiFi communications,camera control, etc
Gumstix Overo-Tide COM (Computer on Module)
ARM arch @720 MHz, OS Angstrom Linux, 4.3 g, 58× 17× 4.2 mm
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 5 / 17
Flying Platform
Flying Platform: Electronic Systems
Two electronic subsystems integrated in the EPP body (surrounded withprotective foam):
Autopilot
Uses a dedicated DSP to implement flight control strategies
Integrates a GPS unit, pressure sensors and inertial sensors
It enables autonomous take-off, followed by way-point navigation atpreset altitudes, and autonomous landing
Embedded Computer
Responsible for mission control: data logging, WiFi communications,camera control, etc
Gumstix Overo-Tide COM (Computer on Module)
ARM arch @720 MHz, OS Angstrom Linux, 4.3 g, 58× 17× 4.2 mm
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 5 / 17
Flying Platform
Flying Platform: Electronic Systems
Two electronic subsystems integrated in the EPP body (surrounded withprotective foam):
Autopilot
Uses a dedicated DSP to implement flight control strategies
Integrates a GPS unit, pressure sensors and inertial sensors
It enables autonomous take-off, followed by way-point navigation atpreset altitudes, and autonomous landing
Embedded Computer
Responsible for mission control: data logging, WiFi communications,camera control, etc
Gumstix Overo-Tide COM (Computer on Module)
ARM arch @720 MHz, OS Angstrom Linux, 4.3 g, 58× 17× 4.2 mm
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 5 / 17
Communication Systems and Dynamic Routing
Communication Systems
Control Link
Point-to-multipoint topology
Navigation instructions from control ground station to each MAV
Based on an XBee Pro radio (IEEE 802.15.4)
ISM Band 2.4 GHz (channel bandwidth = 5 MHz)
Long range (1.6 Km), limited delay, high reliability, small bandwidth(max 250 Kbps)
Data Link
Mesh topology (multi-hop, relaying, ferrying)
Based on WiFi (IEEE 802.11)
ISM Bands, 2.4 GHz and 5 GHz (channel bandwidth = 20/40 MHz)
Higher data rates, required for multimedia applications
But reduced communication range (≈ 400 m in free space)[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 6 / 17
Communication Systems and Dynamic Routing
Communication Systems
Control Link
Point-to-multipoint topology
Navigation instructions from control ground station to each MAV
Based on an XBee Pro radio (IEEE 802.15.4)
ISM Band 2.4 GHz (channel bandwidth = 5 MHz)
Long range (1.6 Km), limited delay, high reliability, small bandwidth(max 250 Kbps)
Data Link
Mesh topology (multi-hop, relaying, ferrying)
Based on WiFi (IEEE 802.11)
ISM Bands, 2.4 GHz and 5 GHz (channel bandwidth = 20/40 MHz)
Higher data rates, required for multimedia applications
But reduced communication range (≈ 400 m in free space)[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 6 / 17
Communication Systems and Dynamic Routing
Communication Systems
Control Link
Point-to-multipoint topology
Navigation instructions from control ground station to each MAV
Based on an XBee Pro radio (IEEE 802.15.4)
ISM Band 2.4 GHz (channel bandwidth = 5 MHz)
Long range (1.6 Km), limited delay, high reliability, small bandwidth(max 250 Kbps)
Data Link
Mesh topology (multi-hop, relaying, ferrying)
Based on WiFi (IEEE 802.11)
ISM Bands, 2.4 GHz and 5 GHz (channel bandwidth = 20/40 MHz)
Higher data rates, required for multimedia applications
But reduced communication range (≈ 400 m in free space)[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 6 / 17
Communication Systems and Dynamic Routing
IEEE 802.11 WiFi communications
Pros
Operate in the freely usable ISM bands
Inexpensive COTS components
Reduced weight, dimensions and power consumption
Support for ad-hoc mode
Cons
Designed for indoor, static environments (low Doppler)
Limited Linux support
Ad-hoc mode offers no support for routing
Overcome by using routing protocols on top of the WiFi stack
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 7 / 17
Communication Systems and Dynamic Routing
IEEE 802.11 WiFi communications
Pros
Operate in the freely usable ISM bands
Inexpensive COTS components
Reduced weight, dimensions and power consumption
Support for ad-hoc mode
Cons
Designed for indoor, static environments (low Doppler)
Limited Linux support
Ad-hoc mode offers no support for routing
Overcome by using routing protocols on top of the WiFi stack
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 7 / 17
Communication Systems and Dynamic Routing
Optimal Link State Routing (OLSR)
Why OLSR for dynamic routing?
Proactive algorithm (continously maintain routes to all destinations)
High mobility of the MAVs, rapidly changing channel
Operates at OSI layer 3 (MAC and PHY agnostic protocol)
No need to modify driversDaemon modifies kernel routing tables in a transparent wayEasier to simulate (ns2, core, etc)
compared to routing protocols operating at OSI layer 2
OLSRd is an open source project under a BSD-style licence
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 8 / 17
Communication Systems and Dynamic Routing
Optimal Link State Routing (OLSR)
Why OLSR for dynamic routing?
Proactive algorithm (continously maintain routes to all destinations)
High mobility of the MAVs, rapidly changing channel
Operates at OSI layer 3 (MAC and PHY agnostic protocol)
No need to modify driversDaemon modifies kernel routing tables in a transparent wayEasier to simulate (ns2, core, etc)
compared to routing protocols operating at OSI layer 2
OLSRd is an open source project under a BSD-style licence
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 8 / 17
Communication Systems and Dynamic Routing
Optimal Link State Routing (OLSR)
Why OLSR for dynamic routing?
Proactive algorithm (continously maintain routes to all destinations)
High mobility of the MAVs, rapidly changing channel
Operates at OSI layer 3 (MAC and PHY agnostic protocol)
No need to modify driversDaemon modifies kernel routing tables in a transparent wayEasier to simulate (ns2, core, etc)
compared to routing protocols operating at OSI layer 2
OLSRd is an open source project under a BSD-style licence
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 8 / 17
Communication Systems and Dynamic Routing
Optimal Link State Routing (OLSR)
Why OLSR for dynamic routing?
Proactive algorithm (continously maintain routes to all destinations)
High mobility of the MAVs, rapidly changing channel
Operates at OSI layer 3 (MAC and PHY agnostic protocol)
No need to modify driversDaemon modifies kernel routing tables in a transparent wayEasier to simulate (ns2, core, etc)
compared to routing protocols operating at OSI layer 2
OLSRd is an open source project under a BSD-style licence
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 8 / 17
Communication Systems and Dynamic Routing
Optimal Link State Routing (OLSR)
How does it work?
HELLO packets: periodically broadcast for link quality sensing
Each node builds list of neighbours and associated link qualities
TC (Topology control) messages: used by nodes to declare their listof neighbours
Propagate topology information of the network to all member nodesUsed special nodes MPR (Multi-Point Relays) to forward control trafficintended for diffusion in the entire network
Dijkstra’s algorithm to select minimum cost routes
Every node keeps a table with the next hop for the routes to all othernodes in the network
Topology database must be kept synchronised accross the network!
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 9 / 17
Communication Systems and Dynamic Routing
Optimal Link State Routing (OLSR)
How does it work?
HELLO packets: periodically broadcast for link quality sensing
Each node builds list of neighbours and associated link qualities
TC (Topology control) messages: used by nodes to declare their listof neighbours
Propagate topology information of the network to all member nodesUsed special nodes MPR (Multi-Point Relays) to forward control trafficintended for diffusion in the entire network
Dijkstra’s algorithm to select minimum cost routes
Every node keeps a table with the next hop for the routes to all othernodes in the network
Topology database must be kept synchronised accross the network!
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 9 / 17
Communication Systems and Dynamic Routing
Optimal Link State Routing (OLSR)
How does it work?
HELLO packets: periodically broadcast for link quality sensing
Each node builds list of neighbours and associated link qualities
TC (Topology control) messages: used by nodes to declare their listof neighbours
Propagate topology information of the network to all member nodesUsed special nodes MPR (Multi-Point Relays) to forward control trafficintended for diffusion in the entire network
Dijkstra’s algorithm to select minimum cost routes
Every node keeps a table with the next hop for the routes to all othernodes in the network
Topology database must be kept synchronised accross the network!
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 9 / 17
Communication Systems and Dynamic Routing
Optimal Link State Routing (OLSR)
How does it work?
HELLO packets: periodically broadcast for link quality sensing
Each node builds list of neighbours and associated link qualities
TC (Topology control) messages: used by nodes to declare their listof neighbours
Propagate topology information of the network to all member nodesUsed special nodes MPR (Multi-Point Relays) to forward control trafficintended for diffusion in the entire network
Dijkstra’s algorithm to select minimum cost routes
Every node keeps a table with the next hop for the routes to all othernodes in the network
Topology database must be kept synchronised accross the network!
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 9 / 17
Communication Systems and Dynamic Routing
Optimal Link State Routing (OLSR)
How does it work?
HELLO packets: periodically broadcast for link quality sensing
Each node builds list of neighbours and associated link qualities
TC (Topology control) messages: used by nodes to declare their listof neighbours
Propagate topology information of the network to all member nodesUsed special nodes MPR (Multi-Point Relays) to forward control trafficintended for diffusion in the entire network
Dijkstra’s algorithm to select minimum cost routes
Every node keeps a table with the next hop for the routes to all othernodes in the network
Topology database must be kept synchronised accross the network!
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 9 / 17
Communication Systems and Dynamic Routing
Optimal Link State Routing (OLSR)
How does it work?
HELLO packets: periodically broadcast for link quality sensing
Each node builds list of neighbours and associated link qualities
TC (Topology control) messages: used by nodes to declare their listof neighbours
Propagate topology information of the network to all member nodesUsed special nodes MPR (Multi-Point Relays) to forward control trafficintended for diffusion in the entire network
Dijkstra’s algorithm to select minimum cost routes
Every node keeps a table with the next hop for the routes to all othernodes in the network
Topology database must be kept synchronised accross the network!
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 9 / 17
Communication Systems and Dynamic Routing
ETX Metric (Expected Transmission Count)
ETX : expected number of MAC layer transmission needed tosuccessfully deliver a packet over a link
LQ (Link Quality): fraction of HELLO packets correctly received froma neighbour in a sliding time windowNLQ (Neighbour Link Quality): probability that a HELLO messagethat we send is correctly received by that neighbourRoundtrip: p = LQ × NLQ : transmission successfully received andcorrectly acknowledgedNumber of trials before successful transmission: geometric RV withparameter p and mean
ETX = 1/(LQ × NLQ)
For multi-hop routes, the aggregate ETX is the sum of the ETX ofeach link in the route
Minimizing aggregate ETX ≡ Find routes of maximum throughput
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 10 / 17
Communication Systems and Dynamic Routing
ETX Metric (Expected Transmission Count)
ETX : expected number of MAC layer transmission needed tosuccessfully deliver a packet over a link
LQ (Link Quality): fraction of HELLO packets correctly received froma neighbour in a sliding time windowNLQ (Neighbour Link Quality): probability that a HELLO messagethat we send is correctly received by that neighbourRoundtrip: p = LQ × NLQ : transmission successfully received andcorrectly acknowledgedNumber of trials before successful transmission: geometric RV withparameter p and mean
ETX = 1/(LQ × NLQ)
For multi-hop routes, the aggregate ETX is the sum of the ETX ofeach link in the route
Minimizing aggregate ETX ≡ Find routes of maximum throughput
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 10 / 17
Communication Systems and Dynamic Routing
ETX Metric (Expected Transmission Count)
ETX : expected number of MAC layer transmission needed tosuccessfully deliver a packet over a link
LQ (Link Quality): fraction of HELLO packets correctly received froma neighbour in a sliding time windowNLQ (Neighbour Link Quality): probability that a HELLO messagethat we send is correctly received by that neighbourRoundtrip: p = LQ × NLQ : transmission successfully received andcorrectly acknowledgedNumber of trials before successful transmission: geometric RV withparameter p and mean
ETX = 1/(LQ × NLQ)
For multi-hop routes, the aggregate ETX is the sum of the ETX ofeach link in the route
Minimizing aggregate ETX ≡ Find routes of maximum throughput
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 10 / 17
Communication Systems and Dynamic Routing
ETX Metric (Expected Transmission Count)
ETX : expected number of MAC layer transmission needed tosuccessfully deliver a packet over a link
LQ (Link Quality): fraction of HELLO packets correctly received froma neighbour in a sliding time windowNLQ (Neighbour Link Quality): probability that a HELLO messagethat we send is correctly received by that neighbourRoundtrip: p = LQ × NLQ : transmission successfully received andcorrectly acknowledgedNumber of trials before successful transmission: geometric RV withparameter p and mean
ETX = 1/(LQ × NLQ)
For multi-hop routes, the aggregate ETX is the sum of the ETX ofeach link in the route
Minimizing aggregate ETX ≡ Find routes of maximum throughput
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 10 / 17
Communication Systems and Dynamic Routing
ETX Metric (Expected Transmission Count)
ETX : expected number of MAC layer transmission needed tosuccessfully deliver a packet over a link
LQ (Link Quality): fraction of HELLO packets correctly received froma neighbour in a sliding time windowNLQ (Neighbour Link Quality): probability that a HELLO messagethat we send is correctly received by that neighbourRoundtrip: p = LQ × NLQ : transmission successfully received andcorrectly acknowledgedNumber of trials before successful transmission: geometric RV withparameter p and mean
ETX = 1/(LQ × NLQ)
For multi-hop routes, the aggregate ETX is the sum of the ETX ofeach link in the route
Minimizing aggregate ETX ≡ Find routes of maximum throughput
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 10 / 17
Communication Systems and Dynamic Routing
ETX Metric (Expected Transmission Count)
ETX : expected number of MAC layer transmission needed tosuccessfully deliver a packet over a link
LQ (Link Quality): fraction of HELLO packets correctly received froma neighbour in a sliding time windowNLQ (Neighbour Link Quality): probability that a HELLO messagethat we send is correctly received by that neighbourRoundtrip: p = LQ × NLQ : transmission successfully received andcorrectly acknowledgedNumber of trials before successful transmission: geometric RV withparameter p and mean
ETX = 1/(LQ × NLQ)
For multi-hop routes, the aggregate ETX is the sum of the ETX ofeach link in the route
Minimizing aggregate ETX ≡ Find routes of maximum throughput
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 10 / 17
Communication Systems and Dynamic Routing
ETX Metric (Expected Transmission Count)
ETX : expected number of MAC layer transmission needed tosuccessfully deliver a packet over a link
LQ (Link Quality): fraction of HELLO packets correctly received froma neighbour in a sliding time windowNLQ (Neighbour Link Quality): probability that a HELLO messagethat we send is correctly received by that neighbourRoundtrip: p = LQ × NLQ : transmission successfully received andcorrectly acknowledgedNumber of trials before successful transmission: geometric RV withparameter p and mean
ETX = 1/(LQ × NLQ)
For multi-hop routes, the aggregate ETX is the sum of the ETX ofeach link in the route
Minimizing aggregate ETX ≡ Find routes of maximum throughput
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 10 / 17
Communication Systems and Dynamic Routing
OLSR for MANETs
OLSRd does not specifically take into account the mobility of thenodes
But if it is configured to propagate route metrics quickly, then ETXwill choose good routes in spite of mobility
Configuration parameters should be tuned according to node speedand expected mobility patterns
HELLO intervalTC intervalAgeing parameter
Fundamental trade-off:accuracy of link measurements ⇔ responsiveness to mobility
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 11 / 17
Communication Systems and Dynamic Routing
OLSR for MANETs
OLSRd does not specifically take into account the mobility of thenodes
But if it is configured to propagate route metrics quickly, then ETXwill choose good routes in spite of mobility
Configuration parameters should be tuned according to node speedand expected mobility patterns
HELLO intervalTC intervalAgeing parameter
Fundamental trade-off:accuracy of link measurements ⇔ responsiveness to mobility
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 11 / 17
Communication Systems and Dynamic Routing
OLSR for MANETs
OLSRd does not specifically take into account the mobility of thenodes
But if it is configured to propagate route metrics quickly, then ETXwill choose good routes in spite of mobility
Configuration parameters should be tuned according to node speedand expected mobility patterns
HELLO intervalTC intervalAgeing parameter
Fundamental trade-off:accuracy of link measurements ⇔ responsiveness to mobility
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 11 / 17
Communication Systems and Dynamic Routing
OLSR for MANETs
OLSRd does not specifically take into account the mobility of thenodes
But if it is configured to propagate route metrics quickly, then ETXwill choose good routes in spite of mobility
Configuration parameters should be tuned according to node speedand expected mobility patterns
HELLO intervalTC intervalAgeing parameter
Fundamental trade-off:accuracy of link measurements ⇔ responsiveness to mobility
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 11 / 17
Experimental results
Experimental results - Throughput vs Distance
1-hop scenario
0 200 400 600 800
2
5
8
11
14
Distance [m]
Thr
ough
put [
Mbp
s]
Theoretical Max 13 Mbps
Fixed ground station and one MAV thatflies back and forth in straight line
2-hop scenario
0 200 400 600 800
2
5
8
11
14
Distance [m]
Thr
ough
put [
Mbp
s]
Theoretical Max 6.5 Mbps
Relay MAV describes circular waypointcentered halfway between ground stationand destination MAV.Relaying enforced
⇒ Max throughput halved, but extended range
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 12 / 17
Experimental results
Experimental results - Throughput vs Distance
1-hop scenario
0 200 400 600 800
2
5
8
11
14
Distance [m]
Thr
ough
put [
Mbp
s]
Theoretical Max 13 Mbps
Fixed ground station and one MAV thatflies back and forth in straight line
2-hop scenario
0 200 400 600 800
2
5
8
11
14
Distance [m]
Thr
ough
put [
Mbp
s]
Theoretical Max 6.5 Mbps
Relay MAV describes circular waypointcentered halfway between ground stationand destination MAV.Relaying enforced
⇒ Max throughput halved, but extended range
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 12 / 17
Experimental results
Experimental results - Throughput vs Trajectory
1-hop scenario
-100 0 100 200 300 400 500 600 700 800-100
0
100
200
300
400
X distance [m]
Y d
ista
nce
[m]
Data rate
Trajectory
Direction of travel
Ground station at origin of coordinates
Several circular waypoints of radius 50 m
Center in straight line, progressively further fromground station
Diameter of blue data points ∝ throughput
Orientation of the MAVaffects performance
Short range (d < 300 m):little sensitivity toorientation
Long-range (d > 450 m):lost connection
Mid-range(300 < d < 450m):inbound rate higher thanoutbound rate
Motor/electronics shadowcommunication path?
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 13 / 17
Experimental results
Experimental results - Throughput vs Trajectory
1-hop scenario
-100 0 100 200 300 400 500 600 700 800-100
0
100
200
300
400
X distance [m]
Y d
ista
nce
[m]
Data rate
Trajectory
Direction of travel
Ground station at origin of coordinates
Several circular waypoints of radius 50 m
Center in straight line, progressively further fromground station
Diameter of blue data points ∝ throughput
Orientation of the MAVaffects performance
Short range (d < 300 m):little sensitivity toorientation
Long-range (d > 450 m):lost connection
Mid-range(300 < d < 450m):inbound rate higher thanoutbound rate
Motor/electronics shadowcommunication path?
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 13 / 17
Experimental results
Experimental results - Throughput vs Trajectory
1-hop scenario
-100 0 100 200 300 400 500 600 700 800-100
0
100
200
300
400
X distance [m]
Y d
ista
nce
[m]
Data rate
Trajectory
Direction of travel
Ground station at origin of coordinates
Several circular waypoints of radius 50 m
Center in straight line, progressively further fromground station
Diameter of blue data points ∝ throughput
Orientation of the MAVaffects performance
Short range (d < 300 m):little sensitivity toorientation
Long-range (d > 450 m):lost connection
Mid-range(300 < d < 450m):inbound rate higher thanoutbound rate
Motor/electronics shadowcommunication path?
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 13 / 17
Experimental results
Experimental results - Throughput vs Trajectory
1-hop scenario
-100 0 100 200 300 400 500 600 700 800-100
0
100
200
300
400
X distance [m]
Y d
ista
nce
[m]
Data rate
Trajectory
Direction of travel
Ground station at origin of coordinates
Several circular waypoints of radius 50 m
Center in straight line, progressively further fromground station
Diameter of blue data points ∝ throughput
Orientation of the MAVaffects performance
Short range (d < 300 m):little sensitivity toorientation
Long-range (d > 450 m):lost connection
Mid-range(300 < d < 450m):inbound rate higher thanoutbound rate
Motor/electronics shadowcommunication path?
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 13 / 17
Experimental results
Experimental results - Throughput vs Trajectory
1-hop scenario
-100 0 100 200 300 400 500 600 700 800-100
0
100
200
300
400
X distance [m]
Y d
ista
nce
[m]
Data rate
Trajectory
Direction of travel
Ground station at origin of coordinates
Several circular waypoints of radius 50 m
Center in straight line, progressively further fromground station
Diameter of blue data points ∝ throughput
Orientation of the MAVaffects performance
Short range (d < 300 m):little sensitivity toorientation
Long-range (d > 450 m):lost connection
Mid-range(300 < d < 450m):inbound rate higher thanoutbound rate
Motor/electronics shadowcommunication path?
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 13 / 17
Experimental results
Experimental results - Throughput vs Trajectory
1-hop scenario
-100 0 100 200 300 400 500 600 700 800-100
0
100
200
300
400
X distance [m]
Y d
ista
nce
[m]
Data rate
Trajectory
Direction of travel
Ground station at origin of coordinates
Several circular waypoints of radius 50 m
Center in straight line, progressively further fromground station
Diameter of blue data points ∝ throughput
Orientation of the MAVaffects performance
Short range (d < 300 m):little sensitivity toorientation
Long-range (d > 450 m):lost connection
Mid-range(300 < d < 450m):inbound rate higher thanoutbound rate
Motor/electronics shadowcommunication path?
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 13 / 17
Experimental results
Experimental results - Relay status
3 nodes, dynamic routing with OLSRd.Relay status and trajectory followed by destination MAV
-200 0 200 400 600 800 1000-100
0
100
200
300
400
500
600
X distance [m]
Y d
ista
nce
[m]
Relay status
Two-hops communicationOne-hop communication
Direction of travel
Relaying MAV describes circular way-pounts, radius50m, center half-way between ground station andthat of way-points described by destination MAV
Short range(d < 400 m):strong 1-hopconnection
Long range(d > 600 m),outbound: stable2-hop connection
Mid-range (400 <d < 600 m): jitteryrelay status,sensitive toorientation
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 14 / 17
Experimental results
Experimental results - Relay status
3 nodes, dynamic routing with OLSRd.Relay status and trajectory followed by destination MAV
-200 0 200 400 600 800 1000-100
0
100
200
300
400
500
600
X distance [m]
Y d
ista
nce
[m]
Relay status
Two-hops communicationOne-hop communication
Direction of travel
Relaying MAV describes circular way-pounts, radius50m, center half-way between ground station andthat of way-points described by destination MAV
Short range(d < 400 m):strong 1-hopconnection
Long range(d > 600 m),outbound: stable2-hop connection
Mid-range (400 <d < 600 m): jitteryrelay status,sensitive toorientation
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 14 / 17
Experimental results
Experimental results - Relay status
3 nodes, dynamic routing with OLSRd.Relay status and trajectory followed by destination MAV
-200 0 200 400 600 800 1000-100
0
100
200
300
400
500
600
X distance [m]
Y d
ista
nce
[m]
Relay status
Two-hops communicationOne-hop communication
Direction of travel
Relaying MAV describes circular way-pounts, radius50m, center half-way between ground station andthat of way-points described by destination MAV
Short range(d < 400 m):strong 1-hopconnection
Long range(d > 600 m),outbound: stable2-hop connection
Mid-range (400 <d < 600 m): jitteryrelay status,sensitive toorientation
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 14 / 17
Experimental results
Experimental results - Relay status
3 nodes, dynamic routing with OLSRd.Relay status and trajectory followed by destination MAV
-200 0 200 400 600 800 1000-100
0
100
200
300
400
500
600
X distance [m]
Y d
ista
nce
[m]
Relay status
Two-hops communicationOne-hop communication
Direction of travel
Relaying MAV describes circular way-pounts, radius50m, center half-way between ground station andthat of way-points described by destination MAV
Short range(d < 400 m):strong 1-hopconnection
Long range(d > 600 m),outbound: stable2-hop connection
Mid-range (400 <d < 600 m): jitteryrelay status,sensitive toorientation
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 14 / 17
Conclusions and future work
Conclusions
Designed single-frequency MANET of ultra-light MAVs and groundnodes
ISM band, standard technologies, COTS components, open sourcesoftware
Ideal for economic, quick, temporary deployment - anywhere
Demonstrate feasibility of using dynamic routing with OLSRd to copewith the high mobility of the MAVs and harsh wireless channel
Characterised the effects of distance and aircraft orientation onend-to-end achievable throughput and routing decisions
Multi-hop to extend range (and/or reliability), data rate reduced byeach additional relayNot only distance but orientation impact performance (unless MAVsare within short range)
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 15 / 17
Conclusions and future work
Conclusions
Designed single-frequency MANET of ultra-light MAVs and groundnodes
ISM band, standard technologies, COTS components, open sourcesoftware
Ideal for economic, quick, temporary deployment - anywhere
Demonstrate feasibility of using dynamic routing with OLSRd to copewith the high mobility of the MAVs and harsh wireless channel
Characterised the effects of distance and aircraft orientation onend-to-end achievable throughput and routing decisions
Multi-hop to extend range (and/or reliability), data rate reduced byeach additional relayNot only distance but orientation impact performance (unless MAVsare within short range)
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 15 / 17
Conclusions and future work
Conclusions
Designed single-frequency MANET of ultra-light MAVs and groundnodes
ISM band, standard technologies, COTS components, open sourcesoftware
Ideal for economic, quick, temporary deployment - anywhere
Demonstrate feasibility of using dynamic routing with OLSRd to copewith the high mobility of the MAVs and harsh wireless channel
Characterised the effects of distance and aircraft orientation onend-to-end achievable throughput and routing decisions
Multi-hop to extend range (and/or reliability), data rate reduced byeach additional relayNot only distance but orientation impact performance (unless MAVsare within short range)
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 15 / 17
Conclusions and future work
Future work
Need to optimize antenna placement for more uniform behaviour
Costly and time-consuming experimental testing
Need to combine with simulation/modelling toolsCurrent work: Flight simulator + Network simulator (CORE/EMANE)Evaluate and compare diverse routing protocols (BABEL,802.11s/HWMP)
Exploit interface between autopilot and embedded computer
Integrate GPS position into routing decisionsGuide flight decision/node placement based on communication needsEnable ferrying in sparse networks
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 16 / 17
Conclusions and future work
Future work
Need to optimize antenna placement for more uniform behaviour
Costly and time-consuming experimental testing
Need to combine with simulation/modelling toolsCurrent work: Flight simulator + Network simulator (CORE/EMANE)Evaluate and compare diverse routing protocols (BABEL,802.11s/HWMP)
Exploit interface between autopilot and embedded computer
Integrate GPS position into routing decisionsGuide flight decision/node placement based on communication needsEnable ferrying in sparse networks
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 16 / 17
Conclusions and future work
Future work
Need to optimize antenna placement for more uniform behaviour
Costly and time-consuming experimental testing
Need to combine with simulation/modelling toolsCurrent work: Flight simulator + Network simulator (CORE/EMANE)Evaluate and compare diverse routing protocols (BABEL,802.11s/HWMP)
Exploit interface between autopilot and embedded computer
Integrate GPS position into routing decisionsGuide flight decision/node placement based on communication needsEnable ferrying in sparse networks
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 16 / 17
Conclusions and future work
Future work
Need to optimize antenna placement for more uniform behaviour
Costly and time-consuming experimental testing
Need to combine with simulation/modelling toolsCurrent work: Flight simulator + Network simulator (CORE/EMANE)Evaluate and compare diverse routing protocols (BABEL,802.11s/HWMP)
Exploit interface between autopilot and embedded computer
Integrate GPS position into routing decisionsGuide flight decision/node placement based on communication needsEnable ferrying in sparse networks
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 16 / 17
Conclusions and future work
Future work
Need to optimize antenna placement for more uniform behaviour
Costly and time-consuming experimental testing
Need to combine with simulation/modelling toolsCurrent work: Flight simulator + Network simulator (CORE/EMANE)Evaluate and compare diverse routing protocols (BABEL,802.11s/HWMP)
Exploit interface between autopilot and embedded computer
Integrate GPS position into routing decisionsGuide flight decision/node placement based on communication needsEnable ferrying in sparse networks
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 16 / 17
Conclusions and future work
Future work
Need to optimize antenna placement for more uniform behaviour
Costly and time-consuming experimental testing
Need to combine with simulation/modelling toolsCurrent work: Flight simulator + Network simulator (CORE/EMANE)Evaluate and compare diverse routing protocols (BABEL,802.11s/HWMP)
Exploit interface between autopilot and embedded computer
Integrate GPS position into routing decisionsGuide flight decision/node placement based on communication needsEnable ferrying in sparse networks
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 16 / 17
Conclusions and future work
Future work
Need to optimize antenna placement for more uniform behaviour
Costly and time-consuming experimental testing
Need to combine with simulation/modelling toolsCurrent work: Flight simulator + Network simulator (CORE/EMANE)Evaluate and compare diverse routing protocols (BABEL,802.11s/HWMP)
Exploit interface between autopilot and embedded computer
Integrate GPS position into routing decisionsGuide flight decision/node placement based on communication needsEnable ferrying in sparse networks
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 16 / 17
Conclusions and future work
Future work
Need to optimize antenna placement for more uniform behaviour
Costly and time-consuming experimental testing
Need to combine with simulation/modelling toolsCurrent work: Flight simulator + Network simulator (CORE/EMANE)Evaluate and compare diverse routing protocols (BABEL,802.11s/HWMP)
Exploit interface between autopilot and embedded computer
Integrate GPS position into routing decisionsGuide flight decision/node placement based on communication needsEnable ferrying in sparse networks
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 16 / 17
Conclusions and future work
Thank you
Thank you for your attention!
Questions?
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 17 / 17
Extra Slides
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 1 / 5
IEEE 802.11 WiFi communications
WiFi card - Sparklan WUBR507N
Multi standard (802.11 a/b/g/n), dual-band model (Ralink chipset)
Very flexible Linux driver, access to detailed PHY configuration
65×25×2 mm, 7 g ⇒ minimal impact on aerodynamics
Configuration
Driven by robustness
802.11n in 5 GHz band, MIMO with 2 antennas (Alamouti, no BLAST)
MCS (Modulation and Coding Scheme): QPSK, 13 Mb/s (fixed, data rateswitching disabled), rate 1/2 channel coding, long GI
“Greenfield” mode - all nodes in the network operate in 802.11n(and with exactly same settings)
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 2 / 5
IEEE 802.11 WiFi communications
WiFi card - Sparklan WUBR507N
Multi standard (802.11 a/b/g/n), dual-band model (Ralink chipset)
Very flexible Linux driver, access to detailed PHY configuration
65×25×2 mm, 7 g ⇒ minimal impact on aerodynamics
Configuration
Driven by robustness
802.11n in 5 GHz band, MIMO with 2 antennas (Alamouti, no BLAST)
MCS (Modulation and Coding Scheme): QPSK, 13 Mb/s (fixed, data rateswitching disabled), rate 1/2 channel coding, long GI
“Greenfield” mode - all nodes in the network operate in 802.11n(and with exactly same settings)
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 2 / 5
Intra- and Inter-flow interference
Two communication flows:S1→ D1 and S2→ D2
Intra-flow: S1→ X1 andX2→ D1, or X1→ X2,but not bothsimultaneously
Inter-flow: X1→ X2 orX3→ X4, but not bothsimultaneously
Nodes contend for bandwidth with:
Other nodes in the same communication path
Nodes in geographic proximity belonging toother paths
Intra-flow interference reduces the throughput
with every node added in multi-hop chain ⇒Can be avoided using multiple wireless
interfaces on each node (multi-frequency
network)
Increased weight, reduced autonomy ofMAVsComplicate optimization of dynamicrouting
Interflow interference: routing protocol needsgeographic information to avoid it
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 3 / 5
Intra- and Inter-flow interference
Two communication flows:S1→ D1 and S2→ D2
Intra-flow: S1→ X1 andX2→ D1, or X1→ X2,but not bothsimultaneously
Inter-flow: X1→ X2 orX3→ X4, but not bothsimultaneously
Nodes contend for bandwidth with:
Other nodes in the same communication path
Nodes in geographic proximity belonging toother paths
Intra-flow interference reduces the throughput
with every node added in multi-hop chain ⇒Can be avoided using multiple wireless
interfaces on each node (multi-frequency
network)
Increased weight, reduced autonomy ofMAVsComplicate optimization of dynamicrouting
Interflow interference: routing protocol needsgeographic information to avoid it
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 3 / 5
Intra- and Inter-flow interference
Two communication flows:S1→ D1 and S2→ D2
Intra-flow: S1→ X1 andX2→ D1, or X1→ X2,but not bothsimultaneously
Inter-flow: X1→ X2 orX3→ X4, but not bothsimultaneously
Nodes contend for bandwidth with:
Other nodes in the same communication path
Nodes in geographic proximity belonging toother paths
Intra-flow interference reduces the throughput
with every node added in multi-hop chain ⇒Can be avoided using multiple wireless
interfaces on each node (multi-frequency
network)
Increased weight, reduced autonomy ofMAVsComplicate optimization of dynamicrouting
Interflow interference: routing protocol needsgeographic information to avoid it
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 3 / 5
Intra- and Inter-flow interference
Two communication flows:S1→ D1 and S2→ D2
Intra-flow: S1→ X1 andX2→ D1, or X1→ X2,but not bothsimultaneously
Inter-flow: X1→ X2 orX3→ X4, but not bothsimultaneously
Nodes contend for bandwidth with:
Other nodes in the same communication path
Nodes in geographic proximity belonging toother paths
Intra-flow interference reduces the throughput
with every node added in multi-hop chain ⇒Can be avoided using multiple wireless
interfaces on each node (multi-frequency
network)
Increased weight, reduced autonomy ofMAVsComplicate optimization of dynamicrouting
Interflow interference: routing protocol needsgeographic information to avoid it
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 3 / 5
Intra- and Inter-flow interference
Two communication flows:S1→ D1 and S2→ D2
Intra-flow: S1→ X1 andX2→ D1, or X1→ X2,but not bothsimultaneously
Inter-flow: X1→ X2 orX3→ X4, but not bothsimultaneously
Nodes contend for bandwidth with:
Other nodes in the same communication path
Nodes in geographic proximity belonging toother paths
Intra-flow interference reduces the throughput
with every node added in multi-hop chain ⇒Can be avoided using multiple wireless
interfaces on each node (multi-frequency
network)
Increased weight, reduced autonomy ofMAVsComplicate optimization of dynamicrouting
Interflow interference: routing protocol needsgeographic information to avoid it
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 3 / 5
Pros and Cons of the ETX metric
Advantages
Maximize throughput taking into account packet loss of the links
Handles asymmetric links
Accounts for Intra-flow interference
Summation of ETX in multi-hop routes reflects that a relay cannotreceive data from previous hop and forward it to next at the same time
Decreases energy consumed per packet
Criticism
ETX does not consider that links may have different PHY rates
Corrected by ETT metric (Expected Transmission Time)
ETX estimations use single (small) size for the probe packets
May lead to inaccurate metric estimation for bigger data packets
Cannot account for inter-flow interference
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 4 / 5
Pros and Cons of the ETX metric
Advantages
Maximize throughput taking into account packet loss of the links
Handles asymmetric links
Accounts for Intra-flow interference
Summation of ETX in multi-hop routes reflects that a relay cannotreceive data from previous hop and forward it to next at the same time
Decreases energy consumed per packet
Criticism
ETX does not consider that links may have different PHY rates
Corrected by ETT metric (Expected Transmission Time)
ETX estimations use single (small) size for the probe packets
May lead to inaccurate metric estimation for bigger data packets
Cannot account for inter-flow interference
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 4 / 5
Pros and Cons of the ETX metric
Advantages
Maximize throughput taking into account packet loss of the links
Handles asymmetric links
Accounts for Intra-flow interference
Summation of ETX in multi-hop routes reflects that a relay cannotreceive data from previous hop and forward it to next at the same time
Decreases energy consumed per packet
Criticism
ETX does not consider that links may have different PHY rates
Corrected by ETT metric (Expected Transmission Time)
ETX estimations use single (small) size for the probe packets
May lead to inaccurate metric estimation for bigger data packets
Cannot account for inter-flow interference
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 4 / 5
Pros and Cons of the ETX metric
Advantages
Maximize throughput taking into account packet loss of the links
Handles asymmetric links
Accounts for Intra-flow interference
Summation of ETX in multi-hop routes reflects that a relay cannotreceive data from previous hop and forward it to next at the same time
Decreases energy consumed per packet
Criticism
ETX does not consider that links may have different PHY rates
Corrected by ETT metric (Expected Transmission Time)
ETX estimations use single (small) size for the probe packets
May lead to inaccurate metric estimation for bigger data packets
Cannot account for inter-flow interference
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 4 / 5
Pros and Cons of the ETX metric
Advantages
Maximize throughput taking into account packet loss of the links
Handles asymmetric links
Accounts for Intra-flow interference
Summation of ETX in multi-hop routes reflects that a relay cannotreceive data from previous hop and forward it to next at the same time
Decreases energy consumed per packet
Criticism
ETX does not consider that links may have different PHY rates
Corrected by ETT metric (Expected Transmission Time)
ETX estimations use single (small) size for the probe packets
May lead to inaccurate metric estimation for bigger data packets
Cannot account for inter-flow interference
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 4 / 5
Pros and Cons of the ETX metric
Advantages
Maximize throughput taking into account packet loss of the links
Handles asymmetric links
Accounts for Intra-flow interference
Summation of ETX in multi-hop routes reflects that a relay cannotreceive data from previous hop and forward it to next at the same time
Decreases energy consumed per packet
Criticism
ETX does not consider that links may have different PHY rates
Corrected by ETT metric (Expected Transmission Time)
ETX estimations use single (small) size for the probe packets
May lead to inaccurate metric estimation for bigger data packets
Cannot account for inter-flow interference
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 4 / 5
Pros and Cons of the ETX metric
Advantages
Maximize throughput taking into account packet loss of the links
Handles asymmetric links
Accounts for Intra-flow interference
Summation of ETX in multi-hop routes reflects that a relay cannotreceive data from previous hop and forward it to next at the same time
Decreases energy consumed per packet
Criticism
ETX does not consider that links may have different PHY rates
Corrected by ETT metric (Expected Transmission Time)
ETX estimations use single (small) size for the probe packets
May lead to inaccurate metric estimation for bigger data packets
Cannot account for inter-flow interference
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 4 / 5
Thank you
Thank you for your attention!
Questions?
[email protected] (EPFL) SMAVNET Aneheim, Dec. 7th 2012 5 / 5