Wireless Sensor Networks. Ad hoc and Sensor Networks Routing Protocols
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1 Wireless Sensor Networks Ad hoc and Sensor Networks Routing Protocols Joris Dobbelsteen Martijn van den Heuvel October 2008
2 Goals ID-centric routing Each node has unique identifier Explain routing protocols Energy-efficiency vs robustness Mobile nodes NOT data-centric routing Look at chapter 12 October 2008 Joris Dobbelsteen, Martijn van den Heuvel 2
3 Overview Introduction Protocol Classification Unicast routing Broadcast/Multicast routing Geographic routing Concluding remarks October 2008 Joris Dobbelsteen, Martijn van den Heuvel 3
4 Terms Forwarding Principle of receiving data and sending it again Routing Deciding how and where to forward Unicast Sending end-to-end (think Internet) Broadcast Sending to multiple parties (think TV) Multicast Send to multiple, but only interested, parties October 2008 Joris Dobbelsteen, Martijn van den Heuvel 4
5 Basic Ideas Flooding Send a packet to all neighbours Gossip Send a packet to a random selected neighbour October 2008 Joris Dobbelsteen, Martijn van den Heuvel 5
6 Overview Introduction Protocol Classification Unicast routing Broadcast/Multicast routing Geographic routing Concluding remarks October 2008 Joris Dobbelsteen, Martijn van den Heuvel 6
7 Protocol classification Proactive or table-driven protocol Always keep routing data up-to-date On-demand or reactive protocol Route is only determined when needed Hybrid protocols October 2008 Joris Dobbelsteen, Martijn van den Heuvel 7
8 Protocol Classification Distance Vector Based on Distributed Bellman-Ford Link State Based on Dijkstra's Shortest Path October 2008 Joris Dobbelsteen, Martijn van den Heuvel 8
9 Distance Vector Routing Share routing table with neighbours Vectors: <destination, distance, successor> Periodic updates October 2008 Joris Dobbelsteen, Martijn van den Heuvel 9
10 DV Distr. Bellman-Ford Initial Table October 2008 Joris Dobbelsteen, Martijn van den Heuvel 10
11 DV Distr. Bellman-Ford Update from D to E: October 2008 Joris Dobbelsteen, Martijn van den Heuvel 11
12 DV Distr. Bellman-Ford Update from B to A: (Path to C not optimal yet!) October 2008 Joris Dobbelsteen, Martijn van den Heuvel 12
13 DV Distr. Bellman-Ford After all updates: October 2008 Joris Dobbelsteen, Martijn van den Heuvel 13
14 Distance Vector Issues Looping: Send packet from A to C over B: B sends packet back No update from B to A A repeats send to B Solutions: Introduce route time-outs Split horizon October 2008 Joris Dobbelsteen, Martijn van den Heuvel 14
15 Distance Vector Issues Count to infinity: Solution: Introduce max amount of hops October 2008 Joris Dobbelsteen, Martijn van den Heuvel 15
16 Link State Routing Identify neighbours Identify link costs to neighbours Flood neighbour info Local Dijkstra's Shortest Path computation October 2008 Joris Dobbelsteen, Martijn van den Heuvel 16
17 Links State Dijkstra October 2008 Joris Dobbelsteen, Martijn van den Heuvel 17
18 Link State Routing Solves count to infinity Prevent looping: Periodically re-discover neighbours October 2008 Joris Dobbelsteen, Martijn van den Heuvel 18
19 Routing protocols Stateless Stateful Unicast Gossip DSR OLSR Rumor routing AODV DSDV Multicast/ Broadcast Flooding GeRaF GPSR GEM TORA GeoTORA BIP ~ WSN ~ MANET October 2008 Joris Dobbelsteen, Martijn van den Heuvel 19
20 Overview Introduction Protocol Classification Unicast routing Sending end-to-end Broadcast/Multicast routing Geographic routing Concluding remarks October 2008 Joris Dobbelsteen, Martijn van den Heuvel 20
21 Unicast Routing Rumor routing DSDV OLSR Dynamic Source Routing AODV TORA October 2008 Joris Dobbelsteen, Martijn van den Heuvel 21
22 Rumor routing Two agents Event source Sink Both perform a random walk until they intersect Path is established? October 2008 Joris Dobbelsteen, Martijn van den Heuvel 22
23 Rumor routing Pro Con Simple Risk of long paths On-demand, low protocol overhead Scales reasonably No guarenteed delivery Not mobile Tuned for infrequent events October 2008 Joris Dobbelsteen, Martijn van den Heuvel 23
24 Unicast Routing Rumor routing DSDV OLSR Dynamic Source Routing AODV TORA October 2008 Joris Dobbelsteen, Martijn van den Heuvel 24
25 DSDV Destination Sequence Distance Vector (DSDV) Based on distributed Bellman Ford Route updates contain sequence number Detect updates Prevent routing loops Expires old routes Periodically send full route updates On topology change, send incremental route updates Unstable route updates are delayed October 2008 Joris Dobbelsteen, Martijn van den Heuvel 25
26 DSDV Pro Con High delivery rate Complicated nodes Short paths High protocol overhead Mobility But not too much Continuesly propagates updates Network-wide Does not scale October 2008 Joris Dobbelsteen, Martijn van den Heuvel 26
27 Unicast Routing Rumor routing DSDV OLSR Dynamic Source Routing AODV TORA October 2008 Joris Dobbelsteen, Martijn van den Heuvel 27
28 OLSR Optimized Link State Routing (OLSR) Based on Dijkstra's shortest path algorithm Link-state Proactively maintains link state database Topology control Use multipoint relays (MPR) Allows efficient flooding Send link state often to compensate for unreliability October 2008 Joris Dobbelsteen, Martijn van den Heuvel 28
29 OLSR Pro Con Widely used Complicated nodes Mobile Not too much Continuesly propagates updates Extensions for link quality Scales fairly good October 2008 Joris Dobbelsteen, Martijn van den Heuvel 29
30 Unicast Routing Rumor routing DSDV OLSR Dynamic Source Routing AODV TORA October 2008 Joris Dobbelsteen, Martijn van den Heuvel 30
31 Dynamic Source Routing [1] 4 4 Reactive Discover by route requests 1 1 [1] 5 [1,4,5] [1,2,6] 3 [1,2,3] 1 2 [1,4] [1,2] [1,2] [1,2] Destination gives route reply [1,2,6] October 2008 Joris Dobbelsteen, Martijn van den Heuvel 31
32 Dynamic Source Routing Uses small route discovery -packets Source routing: sender specifies route Extensions: Cache known routes Learn from control messages send by other nodes Try to repair lost route instead of re-discovery October 2008 Joris Dobbelsteen, Martijn van den Heuvel 32
33 Dynamic Source Routing Pro Con Simple Flooding overhead Reliably finds paths Not mobile Path only available at end-points Not scalable Large packets October 2008 Joris Dobbelsteen, Martijn van den Heuvel 33
34 Unicast Routing Rumor routing DSDV OLSR Dynamic Source Routing AODV TORA October 2008 Joris Dobbelsteen, Martijn van den Heuvel 34
35 AODV Ad hoc On demand Distance Vector Reactive protocol based on DSR But routing tables instead of source routing Add sequence numbers (as DSDV) Prevent count-to-infinity Populate table using any received packet Used in practice October 2008 Joris Dobbelsteen, Martijn van den Heuvel 35
36 AODV Pro Con Used in practice Complicated node Reliably finds paths Flooding overhead Relative short paths Mobile Resolve stale caches October 2008 Joris Dobbelsteen, Martijn van den Heuvel 36
37 Unicast Routing Rumor routing DSDV OLSR Dynamic Source Routing AODV TORA October 2008 Joris Dobbelsteen, Martijn van den Heuvel 37
38 TORA Temporally-Ordered Routing Algorithm Maintain directed acyclic graph to specific destination Discovery using flooding (as DSR) Or proactive from destination Work with heights Send packet to lower height router When no outgoing edge, reconfigure Can optimize routes October 2008 Joris Dobbelsteen, Martijn van den Heuvel 38
39 TORA Example Source A B C A B C 1 D E F DSR: find paths Destination D E 1 Assign heights F A B C 1 D 2 E 1 F 0 October 2008 Joris Dobbelsteen, Martijn van den Heuvel 39
40 TORA example 3 2 A B C A B C 1 D 2 E 1 F 0 No outgoing edge: increase height (+2) D 2 E 3 F Reconfigure heights A B C 1 D 4 E 3 F 0 October 2008 Joris Dobbelsteen, Martijn van den Heuvel 40
41 TORA Pro Con Updates only to neighboors Always loop-free Scales reasonable Complicated node Not optimal paths No energy consideration Reaches destination Fault tolerance Mobile October 2008 Joris Dobbelsteen, Martijn van den Heuvel 41
42 Overview Introduction Protocol Classification Unicast routing Broadcast/Multicast routing Sending to multiple parties Geographic routing Concluding remarks October 2008 Joris Dobbelsteen, Martijn van den Heuvel 42
43 Broadcast/Multicast Routing Basic options Source-based tree: Construct a tree for every source Shared, core-based trees: Use only a single tree for all sources Mesh Improve redundancy October 2008 Joris Dobbelsteen, Martijn van den Heuvel 43
44 Optimizing Total Cost Make use of wireless multicast advantage Shortest path tree Source Destination 2 2 Steiner tree Source Destination Destination 1 Destination 1 Shortest Path: Minimize each single path Steiner tree: Minimize total network Steiner Tree Problem is proven NP-hard! October 2008 Joris Dobbelsteen, Martijn van den Heuvel 44
45 Steiner Approximations Simple approximation Randomly order vertices Successively add using shortest path to some tree vertex Performs reasonably well in practice Takahashi Matsuyama heuristic Start with source node Add a destination node to the tree which has shortest path to an already added node Wireless multicast advantage not exploited October 2008 Joris Dobbelsteen, Martijn van den Heuvel 45
46 Broadcast Incremental Power Minimize total transmission power Use a minimum-spanning-tree-type construction Once a node transmits at a given power level, it becomes cheaper to reach additional neighbors From BIP to multicast incremental power (MIP): Start with broadcast tree Prune unnecessary edges October 2008 Joris Dobbelsteen, Martijn van den Heuvel 46
47 BIP example Round 1: A Round 3: A Round 5: A S B S (3) B S (5) D 1 C Round 2: A 4 3 S (1) D 1 D C Round 4: A C (1) 2 3 B S (3) B 7 6 D D 1 C (1) October 2008 C Joris Dobbelsteen, Martijn van den Heuvel 47 B
48 Broadcast Incremental Power Pro Con Power efficient Cheap paths Need underlying link state Complex Not mobile High protocol overhead Measure energy cost October 2008 Joris Dobbelsteen, Martijn van den Heuvel 48
49 Overview Introduction Protocol Classification Unicast routing Broadcast/Multicast routing Geographic routing Use node location to aid routing Concluding remarks October 2008 Joris Dobbelsteen, Martijn van den Heuvel 49
50 Geographic routing ID based on geographic location Or mapping service Position-based routing Use position to aid routing Geocasting Send to any node in an area October 2008 Joris Dobbelsteen, Martijn van den Heuvel 50
51 Basic geo-routing strategies Most forward within range Node, within range, that is closest to destination Nearest node with (any) progress Minimize transmission power Directional routing Closest to angle towards destination October 2008 Joris Dobbelsteen, Martijn van den Heuvel 51
52 GPSR Geometric Perimeter State Routing Uses greedy most forward strategy When stuck: Follow face using right-hand rule Switch to greedy when no longer needed Requires planar graph October 2008 Joris Dobbelsteen, Martijn van den Heuvel 52
53 GPSR Pro Con Easy implementation Long paths Reaches destination Not energy efficient Scalable Known neighbours only Mobile Update location Low protocol overhead October 2008 Joris Dobbelsteen, Martijn van den Heuvel 53
54 GeRaF Geometric Random Forwarding Handles nodes turning on and off Basic idea Sender broadcasts packet Some receiver picks up and forward packet Handling multiple forwarders Larger forwarding probability when closer to destination October 2008 Joris Dobbelsteen, Martijn van den Heuvel 54
55 GeRaF example S Closer to destination Higher probability D October 2008 Joris Dobbelsteen, Martijn van den Heuvel 55
56 GeRaF example S D October 2008 Joris Dobbelsteen, Martijn van den Heuvel 56
57 GeRaF Pro Con Scalable No state to maintain Multiple paths Probably reaches destination Multiple paths Redundancy Protocol overhead Mobile Energy consuming Relative short paths October 2008 Joris Dobbelsteen, Martijn van den Heuvel 57
58 Graph Embedding (GEM) Constructs geographic structure Uses polar coordinates Build spanning tree Starting at central point (root) Distance = number of hops from root Angle = where in neighbourhood October 2008 Joris Dobbelsteen, Martijn van den Heuvel 58
59 GEM example Angle Distance Root October 2008 Joris Dobbelsteen, Martijn van den Heuvel 59
60 Graph Embedding (GEM) Pro Con Reaches destination Not mobile Low protocol overhead Difficult setup Scalable Determine angles Short paths October 2008 Joris Dobbelsteen, Martijn van den Heuvel 60
61 Geographic routing Position-based routing Use position to aid routing Geocasting Send to any node in an area October 2008 Joris Dobbelsteen, Martijn van den Heuvel 61
62 Location-Based Multicast Geocast: Flood within geographically restricted area Reach the multicast zone through forwarding zone Forwarding zone includes multicast zone and source May make forwarding zone smaller with progress Based on distance Multicast zone S Forwarding zone October 2008 Joris Dobbelsteen, Martijn van den Heuvel 62
63 GeoTORA Based on TORA: Region of nodes are destination Use TORA to reach any sink (anycast) Anycast: Reach one of the destinations The sink floods the region Basically LBM, but with TORA for forwarding S TORA Multicast zone Forwarding zone October 2008 Joris Dobbelsteen, Martijn van den Heuvel 63
64 GeoTORA Pro Con Single protocol for unicast and multicast Always loop-free Complicated nodes No energy considerations Scales reasonable No shortest paths Reaches destination Fault tolerance October 2008 Joris Dobbelsteen, Martijn van den Heuvel 64
65 Trajectory-Based Forwarding Think of agent moving along trajectory collection information Describe trajectory Forward to next closest node Theory only October 2008 Joris Dobbelsteen, Martijn van den Heuvel 65
66 Conclusion Pro-active protocols need considerable resources Geo-routing scales better Routing can Extend network lifetime Optimize for energy consumption Note: energy network lifetime 'Best' routing protocol depends on application October 2008 Joris Dobbelsteen, Martijn van den Heuvel 66
67 References Holger Karl, Andreas Wilig; Protocols and Architectures for Wireless Sensor Networks ; Chap 11, John Wiley & sons Ltd; England, 2006; Andrew S. Tanenbaum; Computernetwerken ; Chap 5.2, Pearson Education Benelux 4 th edition 2 nd reprint November 2005; X SECAN-LAB; Interoperability Laboratory for Security in Ad-Hoc Networks ; 2006, University of Luxembourg; James Newsome, Dawn Song; GEM: Graph Embedding for Routing and Data-centric Storage in Sensor Networks Without Geographic Information ; ACM Conference Proceedings; November 2003 T. Clausen, P. Jacquet; Optimized Link State Routing Protocol (OLSR) ; IETF RFC 3626 V. Park, S. Corson; Temporally-Ordered Routing Algorithm (TORA) ; version 1; work in progress Courtesy: Peter van der Stok and Holger Karl October 2008 Joris Dobbelsteen, Martijn van den Heuvel 67
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