practical 3d geographic routing for wireless sensor...
TRANSCRIPT
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Practical 3D Geographic Routing for Wireless Sensor Networks
Jiangwei Zhou*, Yu Chen+, Ben Leong∇, Pratibha Sundar Sundaramoorthy∇
*Xi’an Jiaotong University+Duke University
∇National University of Singapore
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Geographic Routing Algorithms
Exploit geometric information (coordinates) of network
topology to improve scalability of point-to-point routing
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Geographic Routing Algorithms
Greedy forwarding +Recovery mode when local
minimum is encountered
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1. Efficient2. Storage
proportional to density, not size
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MotivationPreviously proposed geographic
routing algorithms assume “planar” network topology
⇒ Many modern sensor networks are three-dimensional
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Two Questions1. How do we get
geographic routing to work for 3D networks?
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Two Questions2. How do existing point-
to-point algorithms compare? (should we care?)
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Outline• Problem & Motivation• Overview of related work &
geographic routing• Our Solution: GDSTR-3D• Performance Evaluation• Conclusion• Future Work
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Related work 2D geographic routing
― GPSR (Karp & Kung, Mobicom 2000) ― GOAFR+ family (Kuhn et al., Mobihoc 2003)― CLDP (Kim et al., NSDI 2005)― GDSTR (Leong et al., NSDI 2006)
3D geographic routing― GRG (Flury & Wattenhofer, Infocom 2008)― GHG (Liu & Wu, Infocom 2009)
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Related workPoint-to-point
― AODV (Perkins, Milcom 1997)― VPCR (Newsome & Song, SenSys 2003)― BVR (Fonseca et al., NSDI 2005)― VRR (Caesar et al., SIGCOMM 2006)― S4 (Mao et al., NSDI 2007)
Virtual Coordinates― NoGeo (Rao et al., Mobicom 2003)― PSVC (Zhou et al., ICNP 2010)
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Our Approach
Extend GDSTR to 3D
Complications!
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Overview: Geographic Routing
Nodes have coordinates
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Overview: Geographic Routing
source
Nodes have coordinates
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Overview: Geographic Routing
source dest
Nodes have coordinates
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Overview: Geographic Routing
source dest
Packet contains coordinates of destination
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Overview: Geographic Routing
source dest
Greedy forwarding!
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Overview: Geographic Routing
source dest
Greedy forwarding!
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Overview: Geographic Routing
source dest
Greedy forwarding!
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Overview: Geographic Routing
source dest
Dead end! (local minima)
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Overview: GDSTR
source dest
Distributed Spanning Tree
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Overview: GDSTR
source dest
Distributed Spanning Tree root
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Overview: GDSTR
Aggregate coordinates with convex hullsroot
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Overview: GDSTR
Aggregate coordinates with convex hullsroot
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Overview: GDSTR
Aggregate coordinates with convex hullsroot
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Overview: GDSTR
Aggregate coordinates with convex hullsroot
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Overview: GDSTR
Aggregate coordinates with convex hullsroot
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Overview: GDSTR
Aggregate coordinates with convex hullsroot
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Overview: GDSTR
Aggregate coordinates with convex hullsroot
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Overview: GDSTR
Aggregate coordinates with convex hullsroot
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Overview: GDSTR
Hull Treeroot
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Overview: GDSTR
source dest
Remember minimum ⇒ tree traversalroot
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Overview: GDSTR
source dest
Tree Traversalroot
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Overview: GDSTR
source dest
Tree Traversalroot
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Overview: GDSTR
source dest
Back to Greedy Forwarding!
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Overview: GDSTR
source dest
Back to Greedy Forwarding!
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Overview: GDSTR
source dest
Done!!
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Why do hull trees work?
Used only to escape from local minimum
Cheap to build – O(log n)
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Caveat
CONCAVEVOID
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Caveat
dest
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Caveat
dest
localminimum
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Caveat
dest
root
TERRIBLE!
localminimum
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Need TWO hull trees rooted at opposite ends
destroot
localminimum
One tree sufficient for correctness.
Two trees needed for efficiency.
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Our Approach
Extend GDSTR to 3D
Complications!
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Challenges(Why is it hard in TinyOS?)
TinyOS does not support dynamic memory allocation CC2420 radio supports up to 128 bytes in size and has a limited data rateLimited DRAM and flash memoryPrecision of floating point operations is limited
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Naïve Implementation of 3D Convex Hull
Computations are costly Need to store auxiliary data
structures for efficiency ⇒storage costly
Messages too big
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Key ideas1. Approximate 3D Convex
Hull with 2 x 2D Convex Hull
2. Use two-hop greedy forwarding
3. Simplify (details in paper)
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GDSTR-3D
x
y
z Example of a 3D convex hull
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GDSTR-3D
x
y
z Projection onto orthogonal planes
(xy-, yz-, and zx-plane)
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GDSTR-3D
x
y
z Projection onto orthogonal planes
(xy-, yz-, and zx-plane)
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GDSTR-3D
x
y
z Use two of these 2D convex hulls to
approximate the 3D convex hull
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PERFORMANCEEVALUATION
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Metrics1. Success rate 2. Hop stretch3. Maximum Storage4. Message Overhead
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Indriya Testbed(NUS)
• 127 TelosB motes distributed over 3 floors
• Picked random subsets of nodes on 1, 2 and 3 floors
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Algorithms1. GDSTR-3D2. GDSTR3. CLDP/GPSR4. AODV5. VRR6. S4
(2D Face Routing)
(-2D)
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Success rate vs. network size
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Hop stretch (GDSTR+) vs. network size
One-hop
Two-hop
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Hop stretch vs. network size
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Size of compiled binaries & source code
Algorithm Compiled binary Size (KB)
Lines of code
GDSTR-3D 39.5 2,757GDSTR 33.8 2,641
CLDP/GPSR 47.5 2,500S4 43.2 3,997
VRR 45.1 4,135AODV 21.1 1,294
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TOSSIM Experiments
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Hop stretch vs. network density
2D doesn’t work!
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Greedy forwarding success rate vs. network density
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Scaling Up
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Hop stretch vs. network size
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Maximum storage vs. network size
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Message overhead (bytes) vs. network size
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Algorithm Stretch Storage Overhead
GDSTR-3DGDSTR-2D
S4VRR
AODV -
-
?
Summary: Scaling Up(3,200 nodes)
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Comprehensive comparison of GDSTR-3D to
1.AODV2.VRR3.S4
Details in the paper.
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Key Contributions1. Practical 3D geographic
routing• 2x2D hulls for aggregation• Two-hop greedy
2. Comprehensive comparison of state-of-art point-to-point algorithms for TinyOS
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SummaryFor small sensor
networks (<200 nodes): pick your favorite
algorithm.
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For large sensor networks (~3,200 nodes), geographic routing algorithms are most scalable:
• relatively low overheads• storage matters, but is not
overriding consideration
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Life’s complicated
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Algorithm Needs coordinates?
Needs location service
Reactive?
GDSTR-3DS4
VRRAODV
Tradeoffs at a glance
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Future Work• More Thorough Comparison
• link losses• quantify cost of location service/
coordinate assignment• resilience• incremental costs• traffic pattern/load
• Sleep-wake duty cycle• Reduce memory footprint
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TinyOS Source Code
Available here:https://sites.google.com/site/geographicrouting
Or email me: [email protected]
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Questions?
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ThankYou
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For large sensor networks , geographic routing algorithms are most scalable: guarantee packet delivery storage cost is proportional to network density but size motes have small RAM
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Choice: Extend existing 2D geographic routing algorithms to implement a 3D routing algorithm
GDSTR is a natural candidate for extension
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Routing in 3D: Geographic routing in 3D topologies is intrinsically harder than routing in 2D topologies since greedy forwarding tends to encounter more local minima in general 3D topologies It is not entirely straightforward to extend GDSTR to 3D because that 3D convex hulls require significantly more storage and are much more computationally costly
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Solution: Extend greedy forwarding by using 2-hop neighbor information to improve the greedy forwarding success rate in 3D networks Approximate 3D convex hulls with two 2D convex hulls
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All graphs
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Greedy forwarding success ratevs. network size(high density)
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Greedy forwarding success ratevs. network size(low density)
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Success rate vs. network size
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Hop stretch(GDSTR+) vs. network size
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Hop stretch vs. network size
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Greedy forwarding success rate vs. network density
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Hop stretch vs. network density
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Average storage vs. network density
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Maximum storage vs. network density
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Message overhead(packets) vs. network density
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Message overhead(bytes) vs. network density
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Scaling up
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Greedy forwarding success ratevs. network size(low density)
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Greedy forwarding success ratevs. network size(high density)
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Hop stretch vs. network size(low density)
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Hop stretch vs. network size(high density)
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Hop stretch vs. network size with multiple obstacles
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Hop stretch vs. network size with multiple obstacles
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Maximum storage vs. network size
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Message overhead(bytes) vs. network size