routing protocols - department of computer science · 2008-11-21 · routinggp protocols… 7 yin...
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Routing ProtocolsRouting Protocols
References…2
H Karl and A Willing Protocols and Architectures for Wireless H. Karl and A. Willing. Protocols and Architectures for Wireless Sensor Networks. John Wiley & Sons, 2005. (Chapter 11)K. Sohraby, D. Minoli, and T. Znati. Wireless Sensor Networks: Technology, Protocols, and Applications. John Wiley & Sons, 2007. (Chapter 6)E M Royer and C -K Toh A Review of Current Routing Protocols for E. M. Royer and C. K. Toh. A Review of Current Routing Protocols for Ad-Hoc Mobile Wireless Networks. IEEE Personal Communications. Vol. 6, No. 2, pp 46–55, April 1999X H K X d M G l S l bl R ti P t l f M bil Ad X. Hong, K. Xu, and M. Gerla. Scalable Routing Protocols for Mobile Ad Hoc Networks. IEEE Network, Vol. 16, No. 4, pp. 11–21, July/August 2006
Introduction...3
WSNs can be deployed to support a wide range of WSNs can be deployed to support a wide range of applications, whether they have stationary or mobile nodesOnce deployed, the nodes self-organize into a autonomous wireless ad hoc network, with little or no
imaintenanceThe nodes collaborate to perform the task(s) of the application for which they are deployedapplication for which they are deployedTheir main task is to collect data, process data, forward the information back to the application; achieving this the information back to the application; achieving this task efficiently requires an efficient routing protocol to set up paths between the sensors and the data sink
Forwarding…g4
Whenever a node cannot send its data directly to the Whenever a node cannot send its data directly to the sink, it has to rely assistance of intermediate nodes to forward the data, thus form a multihop networkto forward the data, thus form a multihop network
SC
AC
D
Node S wants to send a packet to node D; no direct link has to pass (forward) the packet to its
B
link, has to pass (forward) the packet to its neighbor first
Forwarding…2g5
The simplest forwarding technique is “flooding” where every The simplest forwarding technique is flooding , where every packet is sent to every neighbor until it reaches the sinkAlternatively, a packet is forwarded only to a randomly y, p y yselected neighbor, in a technique called “gossiping”Using a technique (in the middle grounds), called “controlled flooding” a packet is sent to a “select” set of controlled flooding , a packet is sent to a select set of neighborsThe performance of forwarding is measured in terms of p gnumber of packets sent or delay, and usually the above techniques demonstrate a poor performance“suitability” of a neighbor is needed (captured as a set of suitability of a neighbor is needed (captured as a set of metrics)
Is the forwarding node capable? Is it closer to the destination? …
Routing tables…g6
N d th d t t i b t th i Nodes gather and store metrics about their neighbors in “routing tables”
Node S Node ADestination Next
hopCost
A A 1
Destination Nexthop
Cost
S S 1
Node S Node A
B B 1C C 1D C 2
B S 2C S 2D C 3
Determining these tables is performed by the
D B 23
Determining these tables is performed by the “routing protocols”
Routing protocols…g p7
In “wired” networks the routing protocols are In wired networks, the routing protocols are usually based on the link state or distance vector algorithms.algorithms.In wireless (mobile, multihop) networks, different strategies are required; should best ateg es a e equ ed; s ou d be
distributedlow overheadself configuring
Ad hoc routing can be classified asTable driven (proactive)Source initiated (demand driven)
Ad hoc protocols…p8
Ad hoc routing Ad hoc routing protocols
Table driven Source-initiatedOn-demand
DSDV WRP ABRLMRDSRAODV
CGSR TORA SSR
DSDV—Destination Sequenced Distance VectorCGSR—Cluster Gateway Switch RoutingWRP—Wireless Routing Protocol
AODV—Ad hoc On-demand Distance VectorDSR—Dynamic Source RoutingLMR—Lightweight Mobile RoutingTORA T ll O d d R ti Al ithTORA—Temporally Ordered Routing AlgorithmABR—Associativity Based RoutingSSR—Signal Stability Routing
Routing in WSNs…g9
Th i l t i WSN The crucial aspects in WSNs areEnergy efficiency
Selecting the most energ efficient routesSelecting the most energy efficient routesLow overhead of table construction
Stability and dependability of routesStability and dependability of routesSize of the routing tableResilience
Unicasting, broadcasting, and multicastingGeographic routingGeographic routing
Gossiping and agent-based unicast forwarding…Goss p g a d age t based u cast o a d g…10
The idea is to eliminate the need of a routing tableThe idea is to eliminate the need of a routing tableThe overhead is high orThe tables are to be created in the first place!p
A parallel is drawn between the distribution of data in a replicated data base system and epidemics occurring in h l tihuman populations
Rumor mongering…Once an update is received, the site propagates this periodically and Once an update is received, the site propagates this periodically and randomly to another siteThe goal is to spread the updates as fast as possible while minimizing the message overheadg
The idea of randomly choosing forwarding nodes can be applied to WSNs
Randomized forwarding… g11
I i b d d i d f di th k i In gossip based randomized forwarding, the key is the probability with which a node retransmits an incoming packetincoming packet
It is shown that the critical threshold is 65-75%The boundary nodes are critical as they have fewer neighborsThe boundary nodes are critical, as they have fewer neighbors
Alternatively, a data packet (acting as an agent) can wander through the network in search for its wander through the network in search for its destination (this is known as random walking)
All packets wander floodingAll packets wander floodingSome packets wander gossiping
Rumor routing…g12
R tiRumor routingDetect an event and install a few paths in the network
Agents propagate from node to node installing routing Agents propagate from node to node installing routing information
?
Energy-efficient unicast…gy13
T k th t k hTake the network graphAssign a cost value (reflecting the energy
i ) h li kconsumption) to each linkUse an algorithm that would compute the least-cost path(s) 4
A
13 2
1
3D
2B
1C
12
2E
24
4F
3
1
21Send data from A to H
G4
H2
2
Energy-efficient unicast…2gy14
Minimize energy/bitMinimize energy/bitExample: A-B-E-H
Maximize network lifetimeTime until the first node fails
Routing considering available battery capacity Maximum available battery levelsy
Example: A-C-F-HMinimum battery cost routing (MBCR)
Example: A-D-HMin-max battery capacity routing (MMBCR)
Only take battery level into account when below a given level Conditional min-max capacity routing (CMMBCR)p y gMinimize variance in power levels
Minimum total transmission power routing (MTPR)
Some unicast protocols…p15
Att ti t b di tiAttracting routes by redirectingDistance vector routing over topology controlMaximizing time to first node failure as a flow problemMaximizing time to first node failure by max-min optimizationMaximizing number of messagesBounding the difference between routing protocolsBounding the difference between routing protocols
Multipath unicast routing…p g16
I t d f t ti i l ffi i t th Instead of constructing a single energy-efficient path, focus can be shifted on choosing the best possible path from a set of pathspath from a set of paths
Provides redundancy as a “standby”Goal is to find k paths that do not have either links or nodes in Goal is to find k paths that do not have either links or nodes in commonIncreased robustness c eased obust ess Well studied
Multipath unicast routing…2p g17
Sequential assignment routing (SAR)Sequential assignment routing (SAR)…Based on the observation that the nodes close to the sink are likely to fail sooneryConstruct trees outward from each sink neighbor
Energy-efficient secondary pathsgy y pConstruct “braided” paths where various paths may share nodes
Si lt t i i lti l thSimultaneous transmission over multiple pathsSend several copies of a packet over multiple node-disjoint pathspaths
Random selection of the next upstream hop
Multipath unicast routing…3p g 318
Unicast routing is the broadest research topic in the Unicast routing is the broadest research topic in the context of ad hoc and wireless sensor networksA variety of other topics considered (but not covered) A variety of other topics considered (but not covered) include:
Routing and topology controlRouting and topology controlMaximizing data flow for multiple source/destination pairsAll costs consideredIntegration of scheduling and power controlRouting and link qualityR ti d lif ti tRouting and lifetime guaranteesRouting for one-shot queries
Broadcast and multicast…19
Whil t itti d t f d t th While transmitting data from one node to another, nodes may also need to perform a broadcast operationoperationEfficient broadcasting to restrict the set of f di d h ibl hil ll th forwarding nodes as much as possible, while all the nodes receive data
l i i h i il lMulticasting has a similar goal
Options…p20
Broadcast Multicast
Source-based t
Shared core-b d t Meshtree based tree
Minimize total cost
Minimize maximum cost per destination
Single core
Multiple core
Source-based tree approach…pp21
Th id i t t t f h t The idea is to construct, for each source, a tree, rooted at the given source, that contains all the destinations for this source as well as other nodes destinations for this source, as well as other nodes that are needed
Try to find a tree for which the sum of all link costs is Try to find a tree for which the sum of all link costs is minimum (Steiner tree)Try to find the minimum cost to each destination (shortest-Try to find the minimum cost to each destination (shortestpath tree)
Steiner treesrc dst 2
2
Shortest path treesrc dst 2
2
2
2
1 2
2
1
dst 1 dst 1
Source-based protocols…p22
A greedy heuristic Shortest Path TreeA greedy heuristic—Shortest Path TreeCalculate the shortest (cheapest) path to each destination and overlay these paths onto a treey p
Broadcast using minimum cost spanning tree—Prim’s algorithmg
Start with a tree consisting of the source node and, in |V|-1 steps, add one nodeFor every next node construct a shortest path to some other For every next node, construct a shortest path to some other node already on the tree
Other Steiner tree approximationsOther Steiner tree approximationsBroadcasting or multicasting with a finite set of powersp
Wireless advantage…g23
Broadcasting or Multicasting in wireless medium is Broadcasting or Multicasting in wireless medium is different from the same in wired medium
Wired: locally distributing a packet to n neighbors: ti th t f i t k t n times the cost of a unicast packet
Wireless: sending to n neighbors can incur costsAs high as sending to a single neighbor—if receive costs are neglected completelcompletelyAs high as sending once, receiving n times—if receives are tuned to the right momentAs high as sending n unicast packets—if the MAC protocol does not As high as sending n unicast packets—if the MAC protocol does not support local multicast
If local multicast is cheaper than repeated unicasts (a realistic assumption) then we claim the wireless realistic assumption), then we claim the wireless multicast advantage…
Broadcast incremental power (BIP)…p ( )24
In the previous algorithms the cost of transmitting In the previous algorithms, the cost of transmitting to multiple neighbors (multiple children) increases exponentiallyexponentiallyBIP differs by exploiting the wireless multicastingA node already transmitting to some other node can A node already transmitting to some other node can increase its transmitting power to further the transmission to other nodes, without the cost of a ,new transmissionThe additional cost is only the difference between the ycurrent cost and the needed (higher) transmission power
Broadcast incremental power (BIP)…2p ( )25
// Initialize…Vt = {source node}P(source node) = 0 // transmission power assigned to a nodeforeach (v in V\Vt) {Set candidate edge to (source node, v)Set candidate edge weight to transmission power to reach
reach v from source node}// Compute tree…while (V ≠ V) {while (Vt ≠ V) {
Select v ∈ V\Vt with smallest candidate edge weightAdd v to Vt using this candidate edge (u,v)Increase P(u) to smallest power that reaches v// Re compute candidate edges and their weights// Re-compute candidate edges and their weightsforeach (v in V\Vt) {Select u which minimized P’(u)-P(u)// where P’(u) ≥ P(u) is smallest power to reach from v to uSet candidate edge to (u,v)g ( , )Set candidate edge weight to P’(u)-P(u)
}}
BIP in action…26
Other multicast algorithms…g27
E l iti i l lti t d tExploiting wireless multicast advantageMulticast Incremental Power (MIP)
E b dd d i l l i dEmbedded wireless multicast advantageTransforming existing trees
A distributed, position based approach
Shared, core-based protocols…, p28
Th h ll i t fi d th “ ”The challenge is to find the “core”The problem can then be solved with a source-based
l i h i h h h tree algorithm with the core as the sourceOne approach is “merge point formation”, where a merge point for a tree with a few sinks is to be found
Mesh-based protocols…p29
T b d t l ff f l bilit d Tree-based protocols suffer from scalability and robustnessA i h hi h l l f i i i d d A structure with high level of connectivity is needed to connect multiple sources to their destinationsCore-Assisted Mesh Protocol (CAMP)
The mesh (a sub-graph of the original graph) has to contain all d d i i d id l h f sources and destinations and provide at least one path from
each source to each destinationRedundancy in a mesh can enable shorter paths than in a core-Redundancy in a mesh can enable shorter paths than in a core-based tree, based on the forwarding procedure
Other broadcast and multicast approaches…pp30
Gossiping for multicastGossiping for multicastE.g., to improve the reliability
Directed antennas for multicastRobustness and traffic carrying capacity improvements Robustness and traffic carrying capacity improvements
Relationship to topology controlDifference is the source-based protocols
Optimal solutions by linear programmingOptimal solutions by linear programmingLP is NP-hard, but provides better approximations
Optimal solutions for tree networksCollecting and distributing dataCollecting and distributing data
Time to complete a multicastTime is important, too…
Data replacementData replacementCaching
Cooperative multihop broadcast
Geographic routing…g p g31
I hi ti t lIn geographic routing protocols:Known positions of the source and destination, as well as the intermediate nodes can be used to assist the routing intermediate nodes can be used to assist the routing position-based routingIt is necessary (for many applications) to address physical y ( y pp ) p ylocations (e.g., any node in a given region) geocasting
For wireless sensor networks the latter is more important
Nodes are interchangeable and distinguishable only by their external aspects, the location service is usually not necessary
Position-based routing basics…g32
Simple forwarding strategies:Simple forwarding strategies:Most forward within rNearest with forward progressNearest with forward progressDirectional routingRestricted floodingHmmm. Dead ends...
Basic idea to get out of a dead end: Put right hand to h ll f ll h llthe wall, follow the wall
Does not work if on some inner wall—will walk in circlesN d dditi l l t d t t h i lNeed some additional rules to detect such circles
Send the packets around the face using the right-hand rule
Greedy perimeter stateless routing (GPSR)y p g ( )33
Greedy perimeter stateless routing (GPSR)y p g ( )34
Wh t k i d d d f i i t When stuck in a dead-end, one way of escaping is to keep the right hand to the wall and keep walking...
P ti ll b kt k th k t t f th d d d tPractically, backtrack the packet out of the dead end, counter-clockwise around the obstacle
Similar approach will allow the discovery of a node Similar approach will allow the discovery of a node closer to the destination in WSNsIn GPSR a packet is greedil for arded ntil an In GPSR, a packet is greedily forwarded, until an obstacle is reached at, when the algorithm switches to “perimeter routing” (essentially sending a packet to perimeter routing (essentially, sending a packet around a plane using the right-hand rule)
A GPSR example…p35
R t k t f d A t d ZRoute packet from node A to node Z
E I
Leave face routing
B F H K
AZ
DE t
CG
J LEnter face routing
Other position-based routing…p g36
ID b d ti hi hiID-based routing, hierarchiesRandomized forwarding and adaptive node activity (G )(GeRaF)Geographic routing without positions (GEM)
Geocasting…g37
Sending data to a subset of nodes that are located in an Sending data to a subset of nodes that are located in an indicated region (an example of multicasting!)
Geographically restricted floodingg p y gLocation based multicast
Static zone, adaptive zone, adaptive distanceFinding the right directionFinding the right direction
Voronoi diagrams and convex hullsTessellating the plane
Si l f ( ll i ) f h lSimpler forms (tessellations) of the planeMesh-based geocasting
Unicast routinggGeocasting using unicast (GeoTORA)
Trajectory-based forwarding (TBF)
Further issues in geocasting…g g38
Impact of localization errorsImpact of localization errorsImpractical assumption in real systems, that all the nodes know their location
i iLocation servicesMapping node IDs to node locations; more important in ad hoc networks
Location-aided Routing (LAR)Location aided Routing (LAR)Use location information to assist in the flooding phase(s)
Energy aware geocast (GEAR)Load splitting among neighbors when forwarding
Geographic routing without geographic coordinatesDoes not really need exact locationDoes not really need exact location
Link asymmetryGeographic routing fails badly
Mobile nodes…39
S f bilit i WSNSources of mobility in WSNs:The sensor nodesD t i kData sinksObserved event(s)
Multiple sinks… p40
So rceSo rceSo rceSourceSourceSource
Source
Sink movesdownward
SourceSource
Sink movesdownward
SourceSourceSource
SourceSourceSource
Sinkmovesupward
Sinkmovesupward