Abstract
This paper proposes a pro-active solution to the Frugal Feeding Problem (FFP) in Wireless Sensor Networks. The FFP attempts to find energy-efficient routes for a mobile service entity to rendezvous with each member of a team of mobile robots. Although the complexity of the FFP is similar to the Traveling Salesman Problem (TSP), we propose an efficient solution, completely distributed and localized for the case of a fixed rendezvous location (i.e., service facility with limited number of docking ports) and mobile capable entities (sensors). Our pro-active solution reduces the FFP to finding energy-efficient routes in a dynamic Compass Directed unit Graph (CDG). The proposed CDG incorporates ideas from forward progress routing and the directionality of compass routing in an energy-aware unit sub-graph. Navigating the CDG guarantees that each sensor will reach the rendezvous location in a finite number of steps. The ultimate goal of our solution is to achieve energy equilibrium (i.e., no further sensor losses due to energy starvation) by optimizing the use of the shared resource (recharge station). We also examine the impact of critical parameters such as transmission range, cost of mobility and sensor knowledge in the overall performance.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Afzar, M.I., Mahmood, W., Akbar, A.H.: A battery recharge model for wsns using free-space optics (fso). In: Proceedings of the 12th IEEE International Multitopic Conference, pp. 272–277 (2008)
Afzar, M.I., Mahmood, W., Sajid, S.M., Seoyong, S.: Optical wireless communication and recharging mechanism of wireless sensor network by using ccrs. International Journal of Advance Science and Technology 13, 59–68 (2009)
Arwin, F., Samsudin, K., Ramli, A.R.: Swarm robots long term autonomy using moveable charger. In: Qi, L. (ed.) FCC 2009. Communications in Computer and Information Science, vol. 34, Springer, Heidelberg (2009)
Couture-Beil, A., Vaughan, R.: Adaptive mobile charging stations for multi-robot systems. In: Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1363–1368 (2009)
Drenner, A., Papanikolopoulos, N.: Docking station relocation for maximizing longevity of distributed robotic teams. In: Proceedings of the 2006 IEEE International Conference on Robotics and Automation, pp. 2436–2441 (2006)
Feeney, L.: An energy consumption model for performance analysis of routing protocols for mobile ad hoc networks. Mobile Network Applications 6, 239–249 (2001)
Feeney, L., Nilsson, M.: Investigating the energy consumption of a wireless network interface in an ad hoc networking environment. In: IEEE Infocom (2001)
Frey, H., Ruhrup, S., Stojmenovic, I.: In Guide to Wireless Sensor Networks. In: Routing in Wireless Sensor Networks. Springer, London (2009)
Heinzelman, W., Chandrakasan, A., Balakrishnan, H.: An application-specific protocol architecture for wireless microsensor networks. IEEE Transactions on Wireless Communications 1, 1276–1536 (2002)
Kranakis, E., Singh, H., Urrutia, J.: Compass routing on geometric networks. In: Proceedings of the 11th Canadian Conference on Computational Geometry, pp. 51–54 (1999)
Li, X., Nayak, A., Stojmenovic, I.: Exploiting actuator mobility for energy-efficient data collection in delay-tolerant wireless sensor networks. In: Fifth International Conference on Networking and Services ICNS, pp. 216–221 (2009)
Litus, Y., Vaughan, R., Zebrowski, P.: The frugal feeding problem: energy-efficient, multi-robot, multi-place rendezvous. In: Proceedings of the 2007 IEEE International Conference on Robotics and Automation, pp. 27–32 (2007)
Litus, Y., Zebrowski, P., Vaughan, R.T.: A distributed heuristic for energy-efficient multirobot multiplace rendezvous. IEEE Transactions on Robotics 25, 130–135 (2009)
Lung, C.-H., Zhou, C., Yang, Y.: Applying hierarchical agglomerative clustering to wireless sensor networks. In: Proceedings of the International Workshop on Theoretical and Algorithmic Aspects of Sensor and Ad-hoc Networks, WTASA (2007)
Luo, J., Hubaux, J.P.: Joint mobility and routing for lifetime elongation in wireless sensor networks. In: Proceedings of IEEE INFOCOM, pp. 1735–1746 (2005)
Mei, Y., Xian, C., Das, S., Hu, Y., Lu, Y.: Sensor replacement using mobile robots. Computer Communications 30, 2615–2626 (2007)
Michaud, F., Robichaud, E.: Sharing charging stations for long-term activity of autonomous robots. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 3, pp. 2746–2751 (2002)
Perillo, M., Zhao, C., Heinzelman, W.: On the problem of unbalanced load distribution in wireless sensor networks. In: Global Telecommunications Conference Workshops, GlobeCom 2004, pp. 74–79 (2004)
Rahimi, M., Shah, H., Sukhatme, G., Heidemann, J., Estrin, D.: Studying the feasibility of energy harvesting in a mobile sensor network. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 19–24 (2003)
Roundy, S., Otis, P., Chee, Y., Rabaey, J., Wright, P.: A 1.9ghz rf transmit beacon using environmentally scavenged energy. In: IEEE International Symposium on Low Power Electricity and Devices (2003)
Sharif, M., Sedighian, S., Kamali, M.: Recharging sensor nodes using implicit actor coordination in wireless sensor actor networks. Wireless Sensor Networks 2, 123–128 (2010)
Simplot-Ryl, D., Stojmenovic, I., Wu, J.: Energy efficient backbone construction, broadcasting, and area coverage in sensor networks. In: Handbook of Sensor Networks: Algorithms and Architectures, pp. 343–379 (2005)
Stojmenovic, I., Lin, X.: Power-aware localized routing in wireless networks. IEEE Transactions on Parallel and Distributed Systems 12, 1122–1133 (2001)
Tirta, T., Lau, B., Malhotra, N., Bagchi, S., Li, Z., Lu, Y.: Controlled mobility for efficient data gathering in sensor networks with passively mobile robots. In: IEEE Monograph on Sensor Network Operations (2005)
Vargas, A.: The omnet++ discrete event simulation system. In: Proceedings of the European Simulation Multi-Conference (ESM 2001), pp. 319–324 (2001)
Wang, W., Srinivasan, V., Vikram, K.: Extending the lifetime of wireless sensor networks through mobile relays. IEEE/ACM Transactions on Networking 16, 1108–1120 (2008)
Warwerla, J., Vaughan, R.: Near-optimal mobile robot recharging with the rate-maximizing forager. In: Proceedings of the 9th European Conference on Artificial Life, pp. 776–785 (2007)
Younis, O., Fahmy, S.: Heed: A hybrid, energy-efficient, distributed clustering approach for ad hoc sensor networks. IEEE Transactions on Mobile Computing 3, 366–379 (2004)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2011 ICST Institute for Computer Science, Social Informatics and Telecommunications Engineering
About this paper
Cite this paper
Velazquez, E., Santoro, N., Lanthier, M. (2011). Pro-active Strategies for the Frugal Feeding Problem in Wireless Sensor Networks. In: Par, G., Morrow, P. (eds) Sensor Systems and Software. S-CUBE 2010. Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering, vol 57. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-23583-2_14
Download citation
DOI: https://doi.org/10.1007/978-3-642-23583-2_14
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-23582-5
Online ISBN: 978-3-642-23583-2
eBook Packages: Computer ScienceComputer Science (R0)