Wireless Sensor Networks

From industrial sensing to battle awareness, this book introduces practitioners to the fundamental issues and technology constraints concerning various aspects of sensor networks, such as information organization, querying, routing, and self-organization. It does so by using concrete examples from current research and implementation efforts.

Preface

xiii

1 Introduction

1

(22)

1.1 Unique Constraints and Challenges

2

(4)

1.2 Advantages of Sensor Networks

6

(3)

1.2.1 Energy Advantage

7

(1)

1.2.2 Detection Advantage

8

(1)

1.3 Sensor Network Applications

9

(7)

1.3.1 Habitat Monitoring

10

(2)

1.3.2 Tracking Chemical Plumes

12

(1)

1.3.3 Smart Transportation

13

(3)

1.4 Collaborative Processing

16

(1)

1.5 Key Definitions of Sensor Networks

17

(3)

1.6 The Rest of the Book

20

(3)

2 Canonical Problem: Localization and Tracking

23

(40)

2.1 A Tracking Scenario

25

(2)

2.2 Problem Formulation

27

(11)

2.2.1 Sensing Model

28

(2)

2.2.2 Collaborative Localization

30

(2)

2.2.3 Bayesian State Estimation

32

(6)

2.3 Distributed Representation and Inference of States

38

(7)

2.3.1 Impact of Choice of Representation

38

(4)

2.3.2 Design Desiderata in Distributed Tracking

42

(3)

2.4 Tracking Multiple Objects

45

(6)

2.4.1 State-Space Decomposition

45

(3)

2.4.2 Data Association

48

(3)

2.5 Sensor Models

51

(7)

2.6 Performance Comparison and Metrics

58

(3)

2.7 Summary

61

(2)

3 Networking Sensors

63

(40)

3.1 Key Assumptions

63

(2)

3.2 Medium Access Control

65

(3)

3.2.1 The S-MAC Protocol

66

(1)

3.2.2 IEEE 802.15.4 Standard and ZigBee

67

(1)

3.3 General Issues

68

(2)

3.4 Geographic, Energy-Aware Routing

70

(21)

3.4.1 Unicast Geographic Routing

72

(9)

3.4.2 Routing on a Curve

81

(2)

3.4.3 Energy-Minimizing Broadcast

83

(4)

3.4.4 Energy-Aware Routing to a Region

87

(4)

3.5 Attribute-Based Routing

91

(10)

3.5.1 Directed Diffusion

92

(5)

3.5.2 Rumor Routing

97

(2)

3.5.3 Geographic Hash Tables

99

(2)

3.6 Summary

101

(2)

4 Infrastructure Establishment

103

(32)

4.1 Topology Control

103

(3)

4.2 Clustering

106

(1)

4.3 Time Synchronization

107

(10)

4.3.1 Clocks and Communication Delays

109

(2)

4.3.2 Interval Methods

111

(4)

4.3.3 Reference Broadcasts

115

(2)

4.4 Localization and Localization Services

117

(15)

4.4.1 Ranging Techniques

119

(1)

4.4.2 Range-Based Localization Algorithms

120

(5)

4.4.3 Other Localization Algorithms

125

(2)

4.4.4 Location Services

127

(5)

4.5 Summary

132

(3)

5 Sensor Tasking and Control

135

(54)

5.1 Task-Driven Sensing

136

(2)

5.2 Roles of Sensor Nodes and Utilities

138

(4)

5.3 Information-Based Sensor Tasking

142

(25)

5.3.1 Sensor Selection

142

(5)

5.3.2 IDSQ: Information-Driven Sensor Querying

147

(5)

5.3.3 Cluster Leader-Based Protocol

152

(10)

5.3.4 Sensor Tasking in Tracking Relations

162

(5)

5.4 Joint Routing and Information Aggregation

167

(20)

5.4.1 Moving Center of Aggregation

168

(6)

5.4.2 Multistep Information-Directed Routing

174

(5)

5.4.3 Sensor Group Management

179

(6)

5.4.4 Case Study: Sensing Global Phenomena

185

(2)

5.5 Summary

187

(2)

6 Sensor Network Databases

189

(50)

6.1 Sensor Database Challenges

192

(3)

6.2 Querying the Physical Environment

195

(2)

6.3 Query Interfaces

197

(3)

6.3.1 Cougar Sensor Database and Abstract Data Types

198

(1)

6.3.2 Probabilistic Queries

199

(1)

6.4 High-Level Database Organization

200

(3)

6.5 In-Network Aggregation

203

(8)

6.5.1 Query Propagation and Aggregation

203

(2)

6.5.2 TinyDB Query Processing

205

(2)

6.5.3 Query Processing Scheduling and Optimization

207

(4)

6.6 Data-Centric Storage

211

(2)

6.7 Data Indices and Range Queries

213

(10)

6.7.1 One-Dimensional Indices

215

(2)

6.7.2 Multidimensional Indices for Orthogonal Range Searching

217

(4)

6.7.3 Nonorthogonal Range Searching

221

(2)

6.8 Distributed Hierarchical Aggregation

223

(9)

6.8.1 Multiresolution Summarization

224

(1)

6.8.2 Partitioning the Summaries

225

(2)

6.8.3 Fractional Cascading

227

(3)

6.8.4 Locality-Preserving Hashing

230

(2)

6.9 Temporal Data

232

(4)

6.9.1 Data Aging

233

(1)

6.9.2 Indexing Motion Data

234

(2)

6.10 Summary

236

(3)

7 Sensor Network Platforms and Tools

239

(52)

7.1 Sensor Node Hardware

240

(5)

7.1.1 Berkeley Motes

242

(3)

7.2 Sensor Network Programming Challenges

245

(2)

7.3 Node-Level Software Platforms

247

(19)

7.3.1 Operating System: TinyOS

248

(4)

7.3.2 Imperative Language: nesC

252

(8)

7.3.3 Data flow-Style Language: TinyGALS

260

(6)

7.4 Node-Level Simulators

266

(6)

7.4.1 The ns-2 Simulator and its Sensor Network Extensions

269

(2)

7.4.2 The Simulator TOSSIM

271

(1)

7.5 Programming Beyond Individual Nodes: State-Centric Programming

272

(15)

7.5.1 Collaboration Groups

274

(4)

7.5.2 PIECES: A State-Centric Design Framework

278

(4)

7.5.3 Multitarget Tracking Problem Revisited

282

(5)

7.6 Summary

287

(4)

8 Applications and Future Directions

291

(16)

8.1 A Summary of the Book 291 8.2 Emerging Applications

294

(7)

8.3 Future Research Directions

301

(5)

8.3.1 Secure Embedded Systems

301

(1)

8.3.2 Programming Models and Embedded Operating Systems

301

(1)

8.3.3 Management of Collaborative Groups

302

(1)

8.3.4 Lightweight Signal Processing

303

(1)

8.3.5 Networks of High-Data-Rate Sensors

303

(1)

8.3.6 Google® for the Physical World

304

(1)

8.3.7 Closing the Loop with Actuators

305

(1)

8.3.8 Distributed Information Architecture

305

(1)

8.4 Conclusion

306

Appendix

A Optimal Estimator Design

307

(2)

B Particle Filter

309

(4)

C Information Utility Measures

313

(8)

D Sample Sensor Selection Criteria

321

(2)

Bibliography

323

(24)

Index

347

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Wireless Sensor Networks

Summary

Table of Contents

Supplemental Materials

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Summary

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