wireless ad hoc...

Wireless Ad Hoc and Sensor Networks

Wireless Ad Hoc and Sensor Networks describes the theory of ad hoc networks. It alsodemonstrates techniques for designing efficient algorithms and systematically analyzingtheir performance.

Li develops the fundamental understanding required to tackle problems in thesenetworks by first reviewing relevant protocols, then formulating problems mathemat-ically, and solving them algorithmically. Wireless MAC protocols, including variousIEEE 802.11 protocols, 802.16, Bluetooth, and protocols for wireless sensor networksare treated in detail. Channel assignment for maximizing network capacity is covered;topology control methods are explored at length; and routing protocols for unicast,broadcast, and multicast are described and evaluated. Cross-layer optimization is alsoconsidered.

The result is a detailed account of the various algorithmic, graph-theoretical, computa-tional-geometric, and probabilistic approaches to attack problems faced in these net-works, delivering an understanding that will allow readers to develop practical solutionsfor themselves. This title is an invaluable resource for graduate students and researchersin electrical engineering and computer science departments, as well as for practitionersin the communications industry.

XiangYang Li is currently an associate professor of computer science at the IllinoisInstitute of Technology. He also holds a visiting professorship or adjunct-professorshipat TianJing University, WuHan University, and NanJing University, in China. He wasawarded his Ph.D. in 2001 from the Department of Computer Science at the Universityof Illinois at Urbana-Champaign. A leading researcher in the field of wireless networks,he has made important contributions in the areas of network topology and routing.His current research interests include cooperation, energy efficiency, and distributedalgorithms for wireless ad hoc and sensor networks.

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Cambridge University Press978-0-521-86523-4 - Wireless Ad Hoc and Sensor Networks: Theory and ApplicationsXiangyang LiFrontmatterMore information

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Wireless Ad Hoc andSensor NetworksTheory and Applications

XIANGYANG LIIllinois Institute of Technology






CAMBRIDGE UNIVERSITY PRESS

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Cambridge University Press32 Avenue of the Americas, New York, NY 10013-2473, USA

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First published 2008

Printed in the United States of America

A catalog record for this publication is available from the British Library

Library of Congress Cataloging in Publication Data

Li, XiangYang.Wireless ad hoc and sensor networks: theory and applications / XiangYang Li.

p. cm.Includes bibliographical references and index.ISBN 978-0-521-86523-4 (hbk.)1. Wireless communication systems. 2. Sensor networks. I. Title.

TK5103.2.L546 2008621.384–dc22 2007037219

ISBN 978-0-521-865234 hardback

Cambridge University Press has no responsibility forthe persistence or accuracy of URLs for external orthird-party Internet Web sites referred to in this publicationand does not guarantee that any content on suchWeb sites is, or will remain, accurate or appropriate.






To my wife, Minmy daughter, Sophiamy son, Kevinand my families






Contents

Preface page xiiiAcknowledgments xxiAbbreviations xxiii

Part I Introduction 1

1 History of Wireless Networks 3

1.1 Introduction 31.2 Different Wireless Networks 41.3 Conclusion 14

2 Wireless Transmission Fundamentals 17

2.1 Wireless Channels 172.2 The Wireless Communication Graph 212.3 Power Assignment and Topology Control 232.4 The Wireless Interference Graph 282.5 Related Graph Problems and Geometry Concepts 322.6 Energy-Consumption Models 352.7 Mobility Models 382.8 Conclusion 41

Part II Wireless MACs 45

3 Wireless Medium-Access Control Protocols 47

3.1 Introduction 473.2 IEEE 802.11 Architecture and Protocols 493.3 WiMAX 603.4 Bluetooth 613.5 MAC Protocols for Wireless Sensor Networks 633.6 Conclusion 69






viii Contents

4 TDMA Channel Assignment 71

4.1 Introduction 714.2 System Model and Assumptions 734.3 Centralized Scheduling 754.4 Distributed Algorithms 854.5 Weighted Coloring and Schedulable Flows 904.6 Further Reading 944.7 Conclusion and Remarks 96

5 Spectrum Channel Assignment 99

5.1 Introduction 995.2 Network System Model 1015.3 List-Coloring for Access Networks 1025.4 List-Coloring for Ad Hoc Networks 1125.5 Transition Phenomena on Channel Availability 1145.6 Further Reading 1165.7 Conclusion and Remarks 118

6 CDMA Code Channel Assignment 120

6.1 Introduction 1206.2 System Model and Assumptions 1236.3 Throughput and Bottleneck of General Graphs 1266.4 Approximation Algorithms for Interference Graphs 1296.5 Maximum Weighted Independent Set for a General Wireless

Network Model 1366.6 Further Reading 1486.7 Conclusion and Remarks 150

Part III Topology Control and Clustering 153

7 Clustering and Network Backbone 155

7.1 Introduction 1557.2 Network Models and Problem Formulation 1557.3 Centralized Algorithms for a Connected Dominating Set 1577.4 Message Lower Bound for Distributed-Backbone Construction 1617.5 Some Backbone-Formation Heuristics 1637.6 Efficient Distributed-Nontrivial-Backbone-Formation Method 1667.7 Efficient Distributed-Backbone-Formation Method 1707.8 Linear-Programming-Based Approaches 1797.9 Geometry-Position-Based Approaches 1847.10 Further Reading 1867.11 Conclusion and Remarks 187






Contents ix

8 Weighted Network Backbone 190

8.1 Introduction 1908.2 Study of Typical Methods 1918.3 Centralized Low-Cost Backbone-Formation Algorithms 1938.4 Efficient Distributed Low-Cost Backbone-Formation Algorithms 1948.5 Performance Guarantee 1978.6 Discussion 2058.7 Further Reading 2098.8 Conclusion and Remarks 211

9 Topology Control with Flat Structures 213

9.1 Introduction 2139.2 Current State of Knowledge 2199.3 Planar Structures 2249.4 Bounded-Degree Spanner and Yao’s Family 2289.5 Bounded-Degree Planar Spanner 2319.6 Low-Weighted Structures 2339.7 A Unified Structure: Energy Efficiency for Unicast

and Broadcast 2389.8 Spanners for Heterogeneous Networks 2509.9 Fault-Tolerant Structures 2599.10 Other Spanners 2669.11 Conclusion and Remarks 267

10 Power Assignment 270

10.1 Introduction 27010.2 Power Assignment for Connectivity 27310.3 Power Assignment for Routing 28010.4 Further Reading 28410.5 Conclusion and Remarks 285

11 Critical Transmission Ranges for Connectivity 289

11.1 Introduction 28911.2 Preliminaries 29211.3 Critical Range for Connectivity 29311.4 Critical Range for k-Connectivity 29611.5 Connectivity with Bernoulli Nodes 30111.6 Practical Performances 30411.7 Further Reading 30711.8 Conclusion and Remarks 310






x Contents

12 Other Transition Phenomena 313

12.1 Introduction 31312.2 Critical Node Degree for Connectivity 31312.3 Critical Range for Connectivity in Sparse Networks 31512.4 Critical Range for Connectivity for Mobile Networks 31612.5 Critical Sensing Range for Coverage 32012.6 Critical Range for Successful Routing 32212.7 Further Reading 33012.8 Conclusion and Remarks 331

Part IV Wireless Network Routing Protocols 333

13 Energy-Efficient Unicast Routing 335

13.1 Introduction 33513.2 Proactive Approaches 33613.3 Reactive Approaches 34013.4 Geographic Approaches 34713.5 Clustering and Hierarchical Routing 36113.6 Further Reading 36413.7 Conclusion and Remarks 365

14 Energy-Efficient Broadcast/Multicast Routing 369

14.1 Introduction 36914.2 Centralized Methods 37414.3 Efficient Distributed or Localized Methods 38014.4 Scheduling Active and Sleep Periods 39214.5 Energy-Efficient Multicast 39414.6 Further Reading 39814.7 Conclusion and Remarks 399

15 Routing with Selfish Terminals 402

15.1 Introduction 40215.2 Preliminaries and Network Model 40315.3 Truthful Payment Schemes for Multicast 40815.4 Sharing Multicast Costs or Payments Among Receivers 41615.5 Existence of Truthful Payment Scheme 43115.6 Further Reading 43315.7 Conclusion and Remarks 436

16 Joint Routing, Channel Assignment, and Link Scheduling 440

16.1 Introduction 44016.2 System Model and Assumptions 441






Contents xi

16.3 Problem Formulation for Cross-Layer Optimization 44416.4 Efficient Link, Channel Scheduling 44916.5 Further Reading 45516.6 Conclusion 458

Part V Other Issues 461

17 Localization and Location Tracking 463

17.1 Introduction 46317.2 Available Information 46517.3 Computational Complexity of Sensor Network Localization 47017.4 Progressive Localization Methods 47617.5 Network-Wide Localization Methods 48217.6 Target Tracking and Classification 48517.7 Experimental Location and Tracking Systems 49817.8 Conclusion and Remarks 500

18 Performance Limitations of Random Wireless Ad Hoc Networks 503

18.1 Introduction 50318.2 Capacity of Unicast for an Arbitrary Network 50618.3 Capacity of Unicast for Randomly Deployed Networks 50818.4 Capacity of Broadcast for an Arbitrary Network 51018.5 Capacity of Broadcast for Randomly Deployed Networks 51218.6 Further Reading 51718.7 Conclusion and Remarks 518

19 Security of Wireless Ad Hoc Networks 521

19.1 Introduction 52119.2 Cryptography Fundamentals 52219.3 Key-Predistribution Protocols 53619.4 Secure Routing Protocols 53819.5 Further Reading 54219.6 Conclusion and Remarks 543

Bibliography 547Index 579






Preface

Introduction

In the next generation of wireless communication systems, there will be a need for therapid deployment of independent mobile users. Significant examples include establishingsurvivable, efficient, dynamic communication for emergency/rescue operations, disasterrelief efforts, and military networks. Such network scenarios cannot rely on centralizedand organized connectivity and can be conceived as applications of mobile ad hocnetworks (MANETs). A MANET is an autonomous collection of mobile users thatcommunicate over relatively bandwidth-constrained wireless links. Because the nodesare mobile, the network topology may change rapidly and unpredictably over time.The network is decentralized; all network activity, including discovering the topologyand delivering messages, must be executed by the nodes themselves; that is, routingfunctionality will be incorporated into mobile nodes.

In many commercial and industrial applications, we often need to monitor the environ-ment and collect the information about the environment. In some of these applications,it would be difficult or expensive to monitor using wired sensors. If this is the case, wire-less sensor networks in which sensors are connected by wireless networks are preferred.A wireless sensor network (WSN) consists of a number of sensors spread across a geo-graphic area. Each sensor node has wireless communication capability and some level ofintelligence for signal-processing and networking of data. A WSN could be deployed inwilderness areas for a sufficiently long time (e.g., years) without the need to recharge orreplace the power supplies. Typical applications of WSNs include monitoring, tracking,and controlling.

The subject of wireless ad hoc networking and sensor networking is enormously com-plex, involving many concepts, protocols, technologies, algorithms, and products thatwork together in an intricate manner. The set of applications for MANETs is diverse,ranging from small, static networks that are constrained by power sources to large-scale,mobile, highly dynamic networks. Recently, wireless sensor networks have also beenused in Supervisory Control and Data Acquisition (SCADA). SCADA systems are usedto monitor or to control chemical or transport processes, in municipal water supplysystems, control electric power generation, transmission, and distribution, gas and oilpipelines, and other distributed processes. The design of network protocols for thesenetworks is a complex issue. Regardless of the application, MANETs and sensor net-works need efficient distributed algorithms determining network organization, linking






xiv Preface

scheduling, and routing. However, determining feasible routing paths and deliveringmessages in a decentralized environment in which network topology fluctuates is not awell-defined problem. Although the shortest path (based on a given cost function) froma source to a destination in a static network is usually the optimal route, this idea is noteasily extended to MANETs. Factors such as variable wireless link quality, propagationpath loss, fading, multiuser interference, power expended, and topological changes be-come relevant issues. The network should be able to adaptively alter the routing pathsto alleviate any of these effects. Moreover, in a military environment, preservation ofsecurity, latency, reliability, intentional jamming, and recovery from failure are signifi-cant concerns. Military networks are designed to maintain a low probability of interceptand/or a low probability of detection. Hence, nodes prefer to radiate as little poweras necessary and transmit as infrequently as possible, thus decreasing the probabilityof detection or interception. A lapse in any of these requirements may degrade theperformance and dependability of the network.

The basic goals of a wireless ad hoc sensor network generally depend on the applica-tion, but the following tasks are common to many networks:

1. Determine the value of some parameter at a given location: In an environmentalnetwork, one might want to know the temperature, atmospheric pressure, amount ofsunlight, and relative humidity at a number of locations. This example shows thata given sensor node may be connected to different types of sensors, each with adifferent sampling rate and range of allowed values.

2. Detect the occurrence of events of interest and estimate parameters of the detectedevent or events: In the traffic sensor network, one would like to detect a vehiclemoving through an intersection and estimate the speed and direction of the vehicle.

3. Classify a detected object: Is a vehicle in a traffic sensor network a car, a minivan, alight truck, a bus, and so on?

4. Track an object: In a military sensor network, one would like to track an enemy tankas it moves through the geographic area covered by the network.

In these four tasks, an important requirement of the sensor network is that the requireddata be disseminated to the proper end users. In some cases, there are fairly strict timerequirements on this communication. For example, the detection of an intruder in asurveillance network should be immediately communicated to the police so that actioncan be taken. Because wireless sensors are often powered by batteries only, energyefficiency is critical for the lifetime of a wireless sensor network. Thus, a considerableamount of research has recently been devoted to developing energy-efficient protocolsfor wireless sensor networks. In addition to energy-efficient protocols, wireless ad hocsensor network requirements include but are not limited to scalability (to support a largenumber of mostly stationary sensors for which networks of 10,000 or even 100,000 nodesare envisioned), network self-organization to support scalability and fault tolerance,collaborative signal-processing, and querying ability. Given the large number of nodesand their potential placement in hostile locations, it is essential that the network beable to self-organize; manual configuration is not feasible. Moreover, nodes may fail






Preface xv

(either from lack of energy or from physical destruction), and new nodes may jointhe network. Therefore, the network must be able to periodically reconfigure itself sothat it can continue to function. Individual nodes may become disconnected from therest of the network, but a high degree of connectivity must be maintained. Anotherfactor that distinguishes wireless sensor networks from MANETs is that the end goal isdetection/estimation of some events of interest and not just communications. To improvethe detection/estimation performance, it is often quite useful to fuse data from multiplesensors. This data fusion requires the transmission of data and control messages, andso it may put constraints on the network architecture. A user may want to query anindividual node or a group of nodes for information collected in the region. Dependingon the amount of data fusion performed, it may not be feasible to transmit a large amountof the data across the network. Instead, various local sink nodes will collect the datafrom a given area and create summary messages. A query may be directed to the sinknode nearest the desired location.

Recent years have seen a great amount of research in wireless networks, especiallywireless ad hoc networks. These works involve a number of theoretical aspects ofcomputer science, including approximation algorithms, computational geometry, com-binatorics, and distributed algorithms. Because of the limited capability of processingpower, storage, and energy supply, many conventional algorithms are too complicatedto be implemented in wireless ad hoc and sensor networks. Some other algorithms donot take advantage of the geometric nature of the wireless networks. Additionally, mostof the currently developed location-based algorithms for wireless networks assume aprecise position of each wireless node, which is impossible practically. The majorityof the algorithms with theoretical performance guarantee developed in this area alsoassume that all nodes have a uniform transmission range. These algorithms will likelyfail when nodes have disparate transmission ranges. In summary, the wireless ad hocand sensor networks require efficient distributed algorithms with low computation com-plexity, low communication complexity, and low storage complexity. These algorithmsare expected to take advantage of the geometry nature of the wireless ad hoc networks.Several fundamental questions should be answered: Can we improve the performanceof traditional distributed algorithms, developed for wired networks, under wireless adhoc networks? Does the position information of wireless nodes make a difference inalgorithm performance? Much of the existing work in wireless ad hoc networking alsoassumes that each individual wireless node (possibly owned by selfish users) will followprescribed protocols without deviation. However, each user may modify the behaviorof an algorithm for self-interest reasons. How are desired global-system performancesachieved when individual nodes are selfish?

This is a new book aimed at the teaching of wireless ad hoc and sensor networks fromthe algorithmic and theoretical perspective. The primary focus of the book is on thealgorithms, especially efficient distributed algorithms, related wireless ad hoc protocols,and some fundamental theoretical studies of phenomena in wireless ad hoc and sensornetworks. Many aspects of wireless networking are covered at the introductory level. Itried to cover as many interesting and algorithmic challenging topics related to wirelessad hoc and/or sensor networks as possible in this book. I know that several interesting






xvi Preface

topics and elegant algorithms are missing. Some are due to lack of space and some aredue to the theme of the book. No judgment is implied for algorithms and protocols notcovered in this book.

Audience

This book is intended for graduate students, researchers, and practitioners who are in-terested in obtaining a detailed overview of a number of various algorithmic, graph-theoretical, computational-geometric, and probabilistic approaches to attack certainchallenging problems stemming from wireless networks, especially wireless ad hocand sensor networks. Thus, when I wrote this book, I tried to cover many details formost of the algorithms studied. This book can, in general, serve as a reference resoucefor researchers, engineers, and protocol developers working in the field of wireless adhoc and/or sensor networks. Consequently, most of the chapters are written in such away that they can be read and taught independently.

While I have tried to make the book (and most chapters) as self-contained as possible,some rudimentary knowledge of algorithm design and analysis, computational geometry,distributed systems, graph theory, linear algebra, networking protocols, and probabilitytheory is required for reading this book.

Organization of the Book

This book essentially is organized based on the layers of wireless networking: thephysical and medium-access-control (MAC) layers, the topology control functions thatlie between the MAC and network routing layer, and the network routing layer.

The first part of the book presents introductory material that is necessary for the restof the book.

Chapter 1 briefly reviews the history of wireless communications and discusses differ-ent wireless networks, such as infrastructure-based wireless networks (cellular networks)and infrastructureless wireless networks. Among infrastructureless networks, wirelessad hoc networks and wireless sensor networks are briefly discussed.

Chapter 2 covers some fundamentals of wireless transmissions. In this chapter, westudy the interference constraints of wireless communications, the wireless propagationmodel, and the channel capacity of a wireless channel. We also define the communicationgraph and the interference graph (or conflict graph) induced by a wireless network.Because minimizing energy consumption is critical for the success of many wirelessnetworks, we also review several energy-consumption models that are often used in theliterature. Additionally, we discuss a number of mobility models to simulate mobilenetworks.

The second part of the book is mainly about the MAC protocols for wireless networks.We study CSMA, TDMA, and CDMA protocols.






Preface xvii

Chapter 3 concentrates on the CSMA-based wireless MAC protocols. We study howhidden-terminal and exposed-terminal problems are addressed. We also briefly studyseveral typical wireless MAC protocols such as IEEE 802.11 (or WiFi) protocols forwireless LANs, IEEE 802.16 (WiMAX) for mesh networks, and Bluetooth for wirelesspersonal area networks. We briefly review some of the specific MAC protocols proposedfor wireless sensor networks that integrate CSMA and TDMA.

Chapter 4 concentrates on the MAC protocols based on TDMA. These protocolsassume that the time is slotted and that each link will be assigned some time slots,in which it can transmit data over this link. When a link is assigned a time slot, it isguaranteed that no wireless interference will occur when it uses this link at this time slot.This assignment is often 0/1: A slot either is assigned to a link or is not assigned. Whena time slot is not assigned, a link cannot transmit at that specific time slot. We studysome TDMA-based link-scheduling algorithms that can provide theoretical performanceguarantees.

Chapter 5 concentrates on spectrum channel assignment for wireless networks (cel-lular networks and wireless ad hoc networks). We first study how to assign channels fora set of access networks such that the network capacity is maximized, or the number ofassigned channels is minimized while certain capacity requirements are satisfied. Wethen study the results for spectrum channel assignment for ad hoc networks. The objec-tive of a channel assignment could be to use the least number of channels to achieve aconnected network while the channel availability and network interface constraints atall nodes are satisfied. We also study the transition phenomena of a number of networkproperties depending on the availability of a wireless spectrum.

Chapter 6 studies several algorithms for assigning a CDMA code to wireless networkswhen CDMA is supported.

The third part of the book is about topology control and power assignment for wirelessnetworks.

Chapter 7 studies the construction of backbone for wireless networks. Backbone isespecially useful for routing in mobile networks. We study several centralized and dis-tributed algorithms that can construct a network backbone (i.e., a connected dominatingset) whose size is within a constant factor of the optimum for wireless networks modeledby a unit disk graph. We also study some pure localized algorithms that have lower com-munication costs, although the theoretical constant-approximation ratio on the backbonesize is not guaranteed.

Chapter 8 studies the construction of a backbone network when each wireless nodehas a weight denoting its cost of being at the backbone. The objective is to minimizethe total weight of the backbone. We study several algorithms with good approximationratios.

Chapter 9 studies topology-control algorithms that will construct flat network topolo-gies with proved performance guarantees. Here, a network topology is said to be flat ifevery node in the network will assume the same role in network routing. Notice that fora backbone-based structure, the node on the backbone will forward the messages fornodes that are not on the backbone. We study efficient distributed algorithms that canconstruct energy-efficient network topologies.






xviii Preface

Chapter 10 studies the power-assignment problems for wireless networks. Powerassignment is selecting a transmission power for each node in the network such that theresulting communication network using the allocated transmission power has certainproperties. The objective of a power assignment is often to minimize the total powerused by all nodes or to minimize the maximum transmission power of all nodes. Thelatter is often easy to solve, based on a binary search on all choices of transmissionpower. We study algorithms that assign transmission powers such that the network isconnected, k-connected, or consumes the least power for broadcast or multicast.

Chapters 11 and 12 are related to previous chapters but with different focuses. In thesetwo chapters, we study the so-called transition phenomena of random wireless networks;in other words, the behavior of some certain parameters of the network when the numberof nodes in the network goes to infinity. In Chapter 11, we study the critical transmissionrange rn when a random network of n nodes distributed in a given region (typically, a unitsquare or a disk with unit area) is connected with high probability or k-connected withhigh probability. In Chapter 12, we study the critical node degree needed for producinga connected random network with high probability; the critical transmission range forconnectivity in sparse networks or in mobile networks; the critical transmission rangefor a successful routing with high probability for certain localized routing algorithms;and the critical sensing range for covering a region with high probability.

The fourth part of the book is on routing protocols for wireless networks. We studyrouting protocols for unicast, multicast, and broadcast, and routing protocols with selfishagents.

Chapter 13 studies the energy-efficient unicast routing for wireless networks. Webriefly review some typical proactive and reactive unicast routing protocols proposed inthe literature, such as DSDV, OLSR, AODV, DSR, and opportunistic routing. We alsostudy geographic routing protocols that utilize the geometry information of wirelessnodes to improve the routing performance. Cluster-based hierarchical routing is alsobriefly discussed.

Chapter 14 studies energy-efficient routing protocols for broadcast and multicast.We first study some centralized algorithms for energy-efficient broadcast and multicast.These algorithms are often based on the node-weighted or link-weighted Steiner treealgorithms proposed in the literature. Later, we study several distributed or localizedmethods that are practically efficient.

Chapter 15 studies the routing from another point of view. In all previous protocols,it has been assumed that all wireless nodes will follow predescribed protocols withoutdeviation. In practice, this may not be true, especially when wireless nodes are ownedby individuals. In this chapter, we study how to design routing protocols when we knowthat individual nodes may not follow a routing protocol for their own benefit. We studythis problem mainly using a game-theoretical approach, although a number of differentapproaches are also briefly discussed. In the game-theoretical-based approaches, wirelessnodes will be compensated for their services to others. We study how each individualrelay node is paid and how the payment to these nodes is implemented. For multicast, wealso study algorithms that will fairly share the payments to relay nodes among potentialreceivers.






Preface xix

Chapter 16 studies how to improve the network through a cross-layer approach ofjointly optimizing routing, link scheduling, and channel assignment. We formulate thisproblem as mixed-integer programming and then relax it to linear programming. Bycombining it with link scheduling, we show that the relaxed linear-programming formu-lation will find a solution that is at least a constant factor of the optimum for a numberof network models.

The fifth and the last part of the book is devoted to studying a few other interestingtopics in wireless networks; for example, location tracking, the performance of randomnetworks, and security.

Chapter 17 studies finding the location of wireless sensor nodes and tracking theposition of a moving object by using wireless sensor networks.

In previous chapters, especially Chapter 16, we study what maximum throughput isachievable by a given wireless network under a certain wireless interference model.

Chapter 18 concentrates on the asymptotic network capacity of a random network.We study how the capacity of wireless networks scale with the number of nodes inthe networks (when given a fixed deployment region) or scale with the size of thedeployment region (when given a fixed deployment density) for a number of operations,such as unicast and broadcast. We especially study a pioneering work by Gupta andKumar on the network capacity of a random network for unicast. We also study thenetwork capacity for broadcast under various channel models.

Chapter 19 concentrates on ensuring security in wireless networks. We mainly focuson some fundamentals of cryptography, some key-predistribution protocols, and somesecure routing protocols proposed in the literature. Cryptography will provide us somefundamental tools such as symmetric-key and asymmetric-key encryption, digital sig-nature, and hash functions to implement some security protocols. We then review somesecure routing protocols proposed in the literature.






Acknowledgments

This work is supported in part by the National Basic Research Program of China (973Program) under Grant No. 2006CB303000 and the National High Technology Researchand Development Program of China (863 Program) under Grant No. 2007AA01Z180.

First, this book is in memory of Professor Chao-Ju (Jennifer) Hou from UIUC, a greatresearcher, an active leader, and a close colleague, who passed away due to breast canceron December 2, 2007. I am indebted to her and many colleagues for background materialand insightful input, which, in one way or another, have helped me to write certain partsof the book. I am also deeply grateful to many colleagues and peer researchers whoshared with me in recent years the exciting tasks of studying algorithms and protocolswith theoretical performance guarantees for wireless networks, whose research resultshave helped me in writing several chapters, and who provided feedback to early versionsof this book. Especially, I would like to thank the following: Stefano Basagni, GruiaCalinescu, Guohong Cao, Marco Conti, Stephan Eidenbenz, Ophir Frieder, Jie Gao,Jennifer Hou, Jean-Pierre Hubaux, XiaoHua Jia, Sanjiv Kapoor, P. R. Kumar, BaochunLi, Erran Li, Qun Li, Xin Liu, YunHao Liu, Songwu Lu, Thyaga Nandagopal, PaoloSanti, Ivan Stojmenovic, Nitin Vaidya, Peng-Jun Wan, Roger Wattenhofer, Jie Wu,GuoLiang Xue, Frances Yao, and Chih-Wei Yi. I also would like to thank my (formerand current) Ph.D. students at Illinois Institute of Technology: Professor Yu Wang, Dr.Weizhao Wang, Professor WenZhan Song, Kousha Moaveninejad, YanWei Wu, XuFeiMao, Ping Xu, Shajojie Tang, and XiaoHua Xu. Much of the material presented in thisbook is the fruit of our collaboration during the past few years.

The continued support and encouragement of my dad, KaiWen Li; my mom, LanHuaWu; my wife, Min Chen; my lovely daughter, Sophia Li; and my bright son, Kevin Li wereessential ingredients in the completion of the book. I am grateful to them all. Without theirunwearying love and patience, tireless encouragement, and full unconditional support,this book would never have been possible. I am also grateful for all my friends andcolleagues who provided extraordinary insights, gave me helpful advice in research andlife, and pointed me in the right direction.

Last but by no means least, I am deeply grateful to Anna Littlewood, CambridgeUniversity Press, for her tireless effort in all matters relating to the preparation andproduction of many different versions of the manuscript for the book. I am also deeplygrateful to Victoria Danahy and Barbara Walthall of Aptara Corp. for carefully copy-editing all chapters of the book.

I am sure that I have missed many others, although not intentionally; I thank all ofyou.

XiangYang LiChicago, Illinois

February 2008






Abbreviations

1D one-dimensional2D two-dimensional2G second-generation3D three-dimensional3G third-generation

ABR associativity-based routingACK acknowledgment (frame)A/D analog-to-digital (conversion)AES Advanced Encryption SystemAFR adaptive face routingAHLoS ad hoc localization systemAIFS arbitration interframe spaceAlgorithm KV algorithm of Khuller and ViskhinAMPS Advanced Mobile Telephone Systemamp amplifierAoA angle of arrivalAODV ad hoc on-demand vector (routing)AP access pointAPS ad hoc positioning systemAPX approximableAPXH APX-hardAS autonomous systemATIM ad hoc traffic indication mapATM asynchronous transfer modeAWA Accessos Web Alternativos

BAIP broadcast average incremental powerBB budget balanceBFS breadth first searchBGP border gateway protocolBI busy indicationBIP broadcasting incremental powerBP aBeacon periodBPS bounded-degree planar spannerBPSK binary phase shift keyingBSC base station controller






xxiv Abbreviations

CA collision avoidance (CSMA/CA often)CBC cipher-block chaining (mode)CBT core-based treeCBTC cone-based topology controlCCA clear channel assessmentCCM combined cipher machineCCR critical coverage rangeCDMA code-division multiple-accessCDS connected dominating setCEDAR core-extraction distributed ad hoc routingCFB cipher-feedback (mode)CF-End contention-free endCFP contention-free periodCF-Poll contention-free pollCG conflict graphCGSR cluster-head gateway switch routingCM cross-monotoneCNN critical neighbor numberCP contention periodCPA closest point of approachCPU central processing unitCRC cyclic redundancy checkCSMA carrier-sense multiple-access (protocol)CSP collaborative signal processingCT2 cordless telephoneCTR critical transmission rangeCTS clear-to-send (mechanism)CW contention window

D/A digital-to-analog (conversion)DAG directed acrylic graphD-AMPS digital advanced mobile phone serviceDARPA Defense Advanced Research Projects AgencyDC differential cryptanalysisDCA dynamic channel assignmentDCF distributed coordination functionDECT4 digital European cordless telephoneDemod demodulatorDES data encryption standardDG disk graphD-H Diffie–HellmanDIFS distributed interframe spaceDM dense modelD-PRMA distributed packet-reservation multiple-access (protocol)DPT distributed prediction trackingDRAND a protocol that technically is defined as distributed randomized TDMA

scheduling






Abbreviations xxv

DREAM distance routing effect algorithm for mobilityDS dominating setDSA digital-signature algorithmDSDV destination-sequenced distance-vector [routing (protocol)]DSL digital subscriber lineDSN Distributed Sensor Networks (program)DSP digital signal processingDSR dynamic source routingDSSS direct-sequence spread spectrumDST directed Steiner treeDT Delaunay triangulationDV distance vectorDVMRP distance-vector multicast routing protocol

EAX designation of a two-pass authenticated encryption schemeEC Euler circuitECB electronic codebook (mode)ECC elliptic curve cryptographyEDCA enhanced DCF channel accessEDGE enhanced data rate for GSM evolutionEFF Electronic Frontier FoundationEIFS extended interframe spaceELSD equal link split downstreamEMST Euclidean minimum spanning treeERNG extended relative neighborhood graphETX expected transmission countExOR name given to an opportunistic multihop routing protocol

FDMA frequency-division multiple-accessFFT fast Fourier transformFGSS fault-tolerant global spanning subgraphFHSS frequency-hopping spread spectrumFIPS Federal Information Processing StandardFLSS fault-tolerant local spanning subgraphFM frequency modulationFNR farthest-neighbor routingFP final permutationfPrIM fixed-protocol-interference modelFPTAS fully polynomial-time-approximation schemeFSK frequency-shift-keying

GC graph coloringGFR greedy–face routingGG Gabriel graphGOAFR greedy other adaptive face routingGPRS General Packet Radio ServiceGPS global positioning system






xxvi Abbreviations

GPSR greedy perimeter stateless routingGRG geometric random graphGSM Global System for Mobile CommunicationGTFT method proposed in a paper

HC hybrid coordinatorHCCA HCF-controlled channel accessHCF hybrid coordination functionHRMA hop reservation multiple access

IARP intrazone routing protocolIBSS independent basic service setIBSSID IBSS identifierIC incentive compatibleICDS induced connected dominating set (graph)ID identificationIEEE Institute of Electrical and Electronics EngineersIF intermediate-frequencyiff if and only ifIG interference graphIMBM iterative maximum-branch minimizationIMRG incident MST and RNG graphIMS IP (Internet Protocol) Multimedia SubsystemIP integer programming (formulation)IP Internet protocolIP initial permutationIPTV Internet protocol televisionIR individual rationalityIS independent setISM Industrial, Scientific, and MedicalISP Internet service providerIT information technologyIV initial valueIV initialization vector

kbps kilobits per secondkbytes kilobyteskNN k-nearest-neighbor (classifier)LAN local-area networkLAR location-aided routingLBM location-based multicastLC linear cryptanalysisLCP least-cost pathLCPT least-cost path treeLDEL local Delauney graphLEARN localized-energy-aware restricted neighborhood (routing)LLACK link-layer acknowledgment






Abbreviations xxvii

LMST localized minimum spanning treeLNA low-noise amplifierLP linear programmingLPL low-power listeningLSS local spanning subgraphLST least-cost Steiner tree

MAC medium-access controlMAN metropolitan-area networkMANET mobile ad hoc networkMAP maximum a posteriori probabilityMATSF name of a protocol proposed in a paper (from MANET time synchronization)MBGP multiprotocol extension for a border gateway protocolMBS Mobile Broadband SystemMC-CDMA multicode CDMAMCDS minimum connected dominating setMCG mutual-communication graphMCMT minimum-cost multicast treeMCU microcontroller unitMDS minimum dominating setMEMS Micro-Electro-Mechanical SystemsMFR most-forwarding routingMG mutual-inclusion graphMGC minimum graph-coloring (problem)MIB management information baseMIMO multiple-input multiple-outputMIP multicast independent protocolMIS maximum independent setML maximum-likelihood (classifier)MMAC multichannel MACMNP monotone nonincreasing propertyMod modulatorMOSPF multicast open shortest path firstMPR multipoint relayMSC mobile switching centerMST minimum spanning treeMUP multiradio unification protocolMVC minimum vertex coverMWCDS minimum weighted connected dominating setMWIS maximum weighted independent setMWVC maximum weighted vertex cover

NAV network allocation vectorNFR no-free-riderNIC network interface cardNIST National Institute of Standards and TechnologyNNG nearest-neighbor graph






xxviii Abbreviations

NNR nonnegative sharingNP nondeterministic polynomialNPH NP-HardNST node-weighted Steiner tree

OAFR other adaptive face routingOCB offset codebook (mode)OFB output feedback (mode)OFDM orthogonal frequency-division multiplexingOFSF orthogonal fixed-spreading-factor (code)OLSR optimized link-state routing (protocol)OSPF open shortest path firstOURS optimal unicast routing systemOVSF orthogonal variable-spreading-factor (code)

PA power amplifierPACS personal-access communications systemsPAN personal-area networkP-BIP pruned broadcasting incremental powerPC point coordinatorPCF point coordination functionPCI peripheral component interconnectPDA personal digital assistantPhIM physical-interference modelPHY physical-layer (specification)PI planar and internal-nodePIFS point-coordination-function interframe spacePIM-SM protocol-independent multicast-sparse modePKCS Public Key Cryptography StandardP-MST pruned minimum spanning treePOMDP partially observable Markov decision processPP primal linear programmingPrIM protocol-interference modelPRMA packet-reservation multiple-access (scheme)PS power-save (state or mode)PSM power-saving modeP-SPT pruned shortest-path treePSTN public-switched telephone networkPTAS polynomial-time-approximation schemePTC polynomial-time computabilityPTDMA probabilistic time-division multiple access

QAM quadrature amplitude modulationQoS quality of serviceQPSK quadrature phase-shift keying

RAD random-assessment delayRAM random-access memory






Abbreviations xxix

RBOP related neighborhood-graph-based broadcast-oriented protocolRF radio frequencyRIP routing information protocolRNG relative neighborhood graphRON resilient overlay networkRP rendevous pointRPB reverse-path-broadcasting (scheme)RPF reverse-path forwarding (lookup)RREP route replyRREQ route requestRSA Rivest–Shamir–AdlemanRSS received signal strengthRTS request-to-send (mechanism)RWP random-waypoint (model)Rx receive

SBT share-based treeSCADA supervisory control and data acquisitionSCH set-cover hardSIFS short interframe spaceSINR signal-to-interference-noise ratioSIR signal-to-interference ratioSMS short messaging serviceSOP spectrum opportunitySPAN a topology maintenance protocol proposed by Chen et al. (2002)SPF shortest path firstSPS Standard Positioning ServiceSPT shortest-path treeSSCH slotted seeded channel hopping (protocol)SSR signal stability routingSSR security stochastic routingSTASF a synchronization protocol proposed in a paper by Zhou and Lai (2005)SURAN Survivable Radio Network (project)SVM support vector machine

TA trust authorityTACS Total Access Communications SystemTATSF a synchronization protocol proposed in a paperTBTT target Beacon transmission timeTC traffic classTCP transmission control protocolTDM time-division multiplexingTDMA time-division multiple-accessTDoA time difference of arrivalToA time of arrivalTORA temporarily ordered routing algorithmTSF timing synchronization functionTx transmit






xxx Abbreviations

TxIM transmitter-interference modelTxoP transmit opportunity

UDG unit disk graphUDP user data-gram protocolUMTS Universal Mobile Telecommunication SystemUPVCS undirected minimum-power k-vertex-connected subgraphUS ultrasoundUWB ultrawidebandUWCDS unicast weighted connected dominating set

VC Vapnik and ChervonenkisVCG Vickrey–Clarke–Groves (mechanism)VCO voltage-controlled oscillatorVHF very-high-frequencyVMST virtual minimum spanning treeVoIP voice over IPVOR VHF omnidirectional ranging (aircraft navigation system)VoWIP voice over wireless IP

WAN wireless ad hoc networkWCDMA wideband code-division multiple-accessWCDS weighted connected dominating setWEP wired equivalent privacy (encryption)WiFi common name used to refer to a wireless local-area networkWiMAX Worldwide Interoperability for Microwave AccessWINS a type of sensor node by RockwellWLAN wireless local-area networkWMAN wireless metropolitan-area networkWMN wireless mesh networkWPA WiFi protected access (mode)WPAN wireless personal-area networkWRP wireless routing protocolWSN wireless sensor networkWWAN wireless wide-area networkWWiSE Worldwide Spectrum Efficiency (standard)

YG Yao graph






wireless ad hoc...

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