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Robotic Ad-Hoc Networks

Marius Silaghi, Khulud Alawaji, Mohammed Alghamdi, Akram Alghanmi, Ameerah Alsulami

TL;DR

Addresses enabling fair, robust RANET communications over WiFi-Direct in mobile robot and IoT contexts. Proposes SLEGP, which dynamically forms short-lived GO/GM groups by randomly switching modes after density-aware minimum service times, with GM duration ≈ $(N-1)/c$ times the GO duration. GO/GM selection uses RSS and mobility, distance estimates are refined via GPS, and a receiver/sender scheduler plus a VANET-inspired utility model drive content dissemination with parameters $A$, $B_s$, $T_A$, $T_B$, $M$, $u_M$, $v_M$, and $P_{reload}$. Evaluated in simulation on a circuit of length $L=1$ km with $n=50$ devices moving at $1$ m/s, the approach achieves high throughput, including 100% delivery within about 47 simulated minutes for a configuration with GO min $=9$ s and GM min $=7$ s, and shows a local throughput maximum around those durations. The results illustrate robustness to dynamics and potential applicability for Internet disruptions.

Abstract

Practical robotic adhoc networks (RANETs), a type of mobile wireless adhoc networks (WANETs) supporting the WiFi-Direct modes common in internet of things and phone devices, is proposed based on a strategy of exploiting WiFi-Direct connection modes to overcome hardware restrictions. For a certain period of time the community was enthusiastic about the endless opportunities in fair, robust, efficient, and cheap communication created by the Adhoc mode of the WiFi IEEE 802.11 independent basic service set (IBSS) configuration that required no dedicated access points. The mode was a main enabler of wireless Adhoc networks (WANETS). This communication mode unfortunately did not get into the standard network cards present in IoT and mobile phones, likely due to the high energy consumption it exacts. Rather, such devices implement WiFi-Direct which is designed for star topologies. Several attempts were made to overcame the restriction and support WANETs, but they break at least the fairness and symmetry property, thereby reducing applicability. Here we show a solution for fair RANETs and evaluate the behavior of various strategies using simulations.

Robotic Ad-Hoc Networks

TL;DR

Addresses enabling fair, robust RANET communications over WiFi-Direct in mobile robot and IoT contexts. Proposes SLEGP, which dynamically forms short-lived GO/GM groups by randomly switching modes after density-aware minimum service times, with GM duration ≈ times the GO duration. GO/GM selection uses RSS and mobility, distance estimates are refined via GPS, and a receiver/sender scheduler plus a VANET-inspired utility model drive content dissemination with parameters , , , , , , , and . Evaluated in simulation on a circuit of length km with devices moving at m/s, the approach achieves high throughput, including 100% delivery within about 47 simulated minutes for a configuration with GO min s and GM min s, and shows a local throughput maximum around those durations. The results illustrate robustness to dynamics and potential applicability for Internet disruptions.

Abstract

Practical robotic adhoc networks (RANETs), a type of mobile wireless adhoc networks (WANETs) supporting the WiFi-Direct modes common in internet of things and phone devices, is proposed based on a strategy of exploiting WiFi-Direct connection modes to overcome hardware restrictions. For a certain period of time the community was enthusiastic about the endless opportunities in fair, robust, efficient, and cheap communication created by the Adhoc mode of the WiFi IEEE 802.11 independent basic service set (IBSS) configuration that required no dedicated access points. The mode was a main enabler of wireless Adhoc networks (WANETS). This communication mode unfortunately did not get into the standard network cards present in IoT and mobile phones, likely due to the high energy consumption it exacts. Rather, such devices implement WiFi-Direct which is designed for star topologies. Several attempts were made to overcame the restriction and support WANETs, but they break at least the fairness and symmetry property, thereby reducing applicability. Here we show a solution for fair RANETs and evaluate the behavior of various strategies using simulations.
Paper Structure (5 sections, 1 equation, 7 figures, 1 algorithm)

This paper contains 5 sections, 1 equation, 7 figures, 1 algorithm.

Table of Contents

  1. Introduction
  2. Background
  3. Proposed Short-Lived Ephemeral Groups Protocol
  4. Experimentation
  5. Conclusions

Figures (7)

  • Figure 1: RANET with broadcast segments
  • Figure 2: RANET with two client relays per connection
  • Figure 3: Simple ephemeral SLEGP cell. Legacy WiFi client interfaces are only used optionally for additional connections.
  • Figure 4: Throughput as % of the total number of possible delivered messages in the system, given the number of personal messages championed by each user.
  • Figure 5: Throughput as % of the total number of possible delivered messages in the system, given the minimum number of seconds spent in GM mode before switching, when the GO min time is 9s.
  • ...and 2 more figures