Lossy link is one of the unique characteristics in random-deployed sensor networks. We envision that robustness and reliability of routing cannot be ensured purely in network layer. Our idea is to enhance the performance of routing protocol by cross-layer interaction. We modified mint protocol, a routing protocol in TinyOS and proposed an enhanced version of mint called PA-mint. A transmission power control interface is added to network layer in PA-mint. When routing performance of the current network is not satisfied, PA-mint monotonically increases the transmission power via the interface we added. PA-mint is able to connect orphan nodes and robust to node mobility or key nodes failure. In the case that automatic request retransmission is employed, the number of retransmissions can be reduced by PA-mint. Results from experiments show that PA-mint increases the reliability and robustness of routing protocol by cross-layer interaction.
数据融合是降低无线传感器网络的冗余能耗、延长网络生存期的有效手段之一.传输延时的分配是数据融合中的重要问题,它对网络融合的效果和数据分组的传输延迟具有很大影响.提出了一种基于融合贡献的传输延时分配算法ACDA(aggregate contribution based delay-time allocation),量化了路由树中不同位置的节点对融合效果的影响,并依此按比例分配融合等待时间.算法充分考虑到了各节点在路由树中的位置差异性和节点间的相互影响.仿真结果表明,同现有的几种延时分配算法相比,ACDA能够更加有效地改进数据融合效果,提高网络实时性.
This paper addresses the problem of coordinating multiple mobile robots in searching for and capturing a mobile target,with the aim of reducing the capture time.Compared with the previous algorithms,we assume that the target can be detected by any robot and captured successfully by two or more robots.In this paper,we assume that each robot has a limited communication range.We maintain the robots within a mobile network to guarantee the successful capture.In addition,the motion of the target is modeled and incorporated into directing the motion of the robots to reduce the capture time.A coordination algorithm considering both aspects is proposed.This algorithm can greatly reduce the expected time of capturing the mobile target.Finally,we validate the algorithm by the simulations and experiments.
