Coverage control in sensor networks.pdf

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Coverage Control in Sensor Networks (Team PDFWriters)

Preface

Audience

Book Overview

Acknowledgments

About the Author

Contents

Acronyms

Part I: Introduction

Introduction

Sensors

Sensor Nodes

Microcontroller Unit

Memory

Sensor Unit

Communication Unit

Power Unit

Sensor Networks

Sensor Network Scenarios

Homogeneous vs. Heterogenous Networks

Stationary vs. Mobile Networks

Single-Hop vs. Multi-Hop Networks

Sensor Network Applications

Military Applications

Environmental Applications

Industrial Applications

Home Applications

Medical Applications

Challenges and Issues

Sensor Network Challenges

Energy Efficiency

Network Autonomy

Network Scalability

Fault Tolerance

Data Accuracy

Information Security

Key Research Issues

Node System

Communication Protocols

Middleware Services

References

Sensor Coverage Model

Motivations

Sensor Coverage Models

Boolean Sector Coverage Models

Boolean Disk Coverage Models

Attenuated Disk Coverage Models

Truncated Attenuated Disk Models

Detection Coverage Models

Estimation Coverage Models

References

Network Coverage Control

Motivations and Objectives

Notes and Comments

Coverage Control in the Protocol Architecture

Notes and Comments

Design Issues of Network Coverage Control

Coverage Type

Deployment Method

Node Heterogeneity

Activity Scheduling

Coverage Degree

Coverage Ratio

Network Connectivity

Performance Metric

A Taxonomy for Network Coverage Problems

Point Coverage Problems

Area Coverage Problems

Barrier Coverage Problems

References

Part II: Target Coverage Problems

Node Placement Optimization

Node Placement as the Set-Covering Problem

Optimal Sensor Placement Problems

Modeling Node Placement

Approximation Algorithms

Greedy Algorithm

Simulated Annealing

Genetic Algorithm

Sponsored Sector

Perimeter Coverage

Crossing Coverage

Voronoi Diagram Vertices and Intersections

Activity Scheduling Procedures

Self-Inactivation

Sequential Activation

Example Scheduling Protocols

Coverage Configuration Protocol (CCP)

Optimal Geographical Density Control (OGDC)

Volunteer Phase

Decision Phase

Notes and Comments

Preserving Partial Area Coverage

Random Independent Sleeping

Neighbor Based Scheduling

Neighbor Distance-Based Scheduling

Neighbor-Number-Based Scheduling

Example Scheduling Protocols

Probing Environment and Adaptive Sleeping (PEAS)

Layered Diffusion-based Coverage Control (LDCC)

Basic Idea

Protocol Description

Notes and Comments

Preserving Area Coverage and Network Connectivity

Relation Between Area Coverage and Network Connectivity

Connected Coverage Scheduling

Activate Extra Nodes

Select Connected Nodes

Notes and Comments

References

Node Movement Strategy

Healing Coverage Hole

Hole Detection and Size Estimation

Destination Selection

Movement Strategy

Optimizing Area Coverage

Coverage Pattern Based Movement

Virtual Force Based Movement

Grid Quorum Based Movement

Improving Event Coverage

References

Part IV: Barrier Coverage Problems

Build Intrusion Barriers

Sensor Barrier for Intrusion Detection

Optimal Node Placement for k-Barrier Coverage

Existence Check of k-Barrier Coverage

Critical Density for Providing k-Barrier Coverage

Sensor Scheduling for Barrier Construction

Sensor Barrier with Mobile Nodes

References

Find Penetration Paths

Maximal Breach Path

Maximal Support Path

Exposure Path

Detection Path

Analysis for Path Characteristics

References

Appendix A Voronoi Diagram and Delaunay Triangulation

Voronoi Diagram

Delaunay Triangulation

References

Index

Color Plates

Bang Wang Coverage Control in Sensor Networks

Dr. Bang Wang Nanyang Technological University Intelligent Systems Centre 50 Nanyang Drive Research Techno Plaza, Level 7 Singapore 637553 Singapore wangbang@ntu.edu.sg Series Editor Professor A.J. Sammes, BSc, MPhil, PhD, FBCS, CEng Centre for Forensic Computing Cranﬁeld University DCMT, Shrivenham Swindon SN6 8LA UK ISSN 1617-7975 ISBN 978-1-84996-058-8 DOI 10.1007/978-1-84996-059-5 Springer London Dordrecht Heidelberg New York e-ISBN 978-1-84996-059-5 British Library Cataloguing in Publication Data A catalogue record for this book is available from the British Library Library of Congress Control Number: 2010920018 © Springer-Verlag London Limited 2010 Apart from any fair dealing for the purposes of research or private study, or criticism or review, as per- mitted under the Copyright, Designs and Patents Act 1988, this publication may only be reproduced, stored or transmitted, in any form or by any means, with the prior permission in writing of the publish- ers, or in the case of reprographic reproduction in accordance with the terms of licenses issued by the Copyright Licensing Agency. Enquiries concerning reproduction outside those terms should be sent to the publishers. The use of registered names, trademarks, etc., in this publication does not imply, even in the absence of a speciﬁc statement, that such names are exempt from the relevant laws and regulations and therefore free for general use. The publisher makes no representation, express or implied, with regard to the accuracy of the information contained in this book and cannot accept any legal responsibility or liability for any errors or omissions that may be made. Cover design: VTeX, Vilnius Printed on acid-free paper Springer is part of Springer Science+Business Media (www.springer.com)

To my wife Minghua, and our families

Preface The advances in sensor design have decreased the size, weight, and cost of sensors by orders of magnitude, yet with the increase of higher spatial and temporal reso- lution and accuracy. With the fast progress of sensors design and communications technique, sensor networks have also been quickly evolving in both research and practical domains in the last decade. More and more sensor networks have been de- ployed in real-world to gather information for our daily life. Applications of sensor networks can be found in battleﬁeld surveillance, environmental monitoring, bio- logical detection, smart spaces, industrial diagnostics, etc. Although the technique of sensor networks has a very promising future, many challenges are still deserving lots of research efforts for its successful applications. This book is devoted to coverage control, one of the most fundamental and important research issues in sensor networks. The aim of the book is to provide tutorial-like and up-to-date reference resources on various coverage control problems in sensor networks, a hot topic that has been intensively researched in recent years. Due to some unique characteristics of sensor networks such as energy constraint and ad- hoc topology, the coverage problems in sensor networks have many new scenarios and features that entitle them an important research issue in recent years. I have done my best to include in the book the most recent advances, techniques, protocols, results, and ﬁndings in this ﬁeld. While I have tried to be as exhaustive as I could, the reader is advised to note that what is reported in this book is a picture of research approaches in this ﬁeld taken at the middle of 2009. Audience This book is intended for graduate students, academic researchers, and industrial professionals who are interested in acquiring a big picture of various coverage con- trol problems in sensor networks, including the problem scenarios, their assump- tions and challenges, solution techniques and protocols. The book can serve as a reference book for undergraduate and graduate classes, or as a handbook for re- searchers, engineers, and developers working in the ﬁeld of sensor networks. vii

viii Book Overview Preface This book is divided into four parts. The ﬁrst part of this book provides general introductions, and the rest three parts are each devoted to a category of coverage control problems. In this book, we classify coverage problems into three categories, based on the coverage type, namely, point coverage problems (Part II), area cover- age problems (Part III), and barrier coverage problems (Part IV). Part I presents introductions on sensor networks and coverage control in sensor net- works. • Chapter 1 gives a short introduction to sensors, sensor nodes, and sensor net- works, brieﬂy describing the functions and characteristics of sensors, the archi- tecture and components of sensor nodes, and the scenarios and applications of sensor networks. This chapter also discusses sensor network challenges and key research issues. • Chapter 2 summarizes sensor coverage models mostly used in the literature, mainly elaborating their motivations, deﬁnitions, and applications. The sensor coverage model serves as a cornerstone of network-wide coverage control. • Chapter 3 provides a big picture of various network coverage control problems, including the motivations, objectives, and design issues. We also discuss how the coverage control service can be integrated into the network protocol stack. At the end the chapter, we provide an informal deﬁnition and taxonomy for network- wide coverage control. Part II is devoted to the point coverage problems. In the point coverage problem, the subject to be covered is a set of discrete points. • Chapter 4 studies the node placement optimization problem for coverage con- ﬁguration before network deployment, where the objective is to ﬁnd the optimal locations to place sensor nodes to minimize network cost. • Chapter 5 investigates the coverage lifetime maximization problem by controlling coverage characteristics in a randomly deployed network, where the objective is to optimally schedule sensors activities in order to extend network lifetime. Part III is dedicated to the area coverage problems. In the area coverage problem, the subject to be covered is the whole sensor ﬁeld. • Chapter 6 discusses the critical sensor density (CSD) problem for coverage con- ﬁguration before network deployment, where the objective is to ﬁnd the least number of sensor nodes per unit area to provide complete coverage for the whole sensor ﬁeld. • Chapter 7 looks into the sensor activity scheduling problem of controlling net- work coverage characteristics in a randomly deployed network, where the objec- tives are to identify coverage redundant sensors and schedule sensors’ activity in order to prolong the network lifetime. • Chapter 8 introduces the node movement strategy problem for sensor networks containing mobile nodes, where the objective is to leverage mobile nodes to con- trol network coverage. Mobile nodes change network coverage characteristics via

Preface ix moving to the desired locations. The design of node movement strategy should balance between network coverage and movement cost. Part IV discusses the barrier coverage problems. In the barrier coverage problem, the objective is to identify the desired coverage characteristics, if it exists, for a sensor network. • Chapter 9 examines the coverage problems of building intrusion barriers for de- tecting intrusions of a mobile object when it traverses from one side to the other side of the sensor ﬁeld. The trajectory of an intrusion mobile object is called its traverse path. The objective is to enable the covered points to form an intrusion barrier, stretching across the sensor ﬁeld, and intersecting with every potential traverse path. • Chapter 10 reviews the coverage problems of ﬁnding penetration paths. A pen- etration path is a continuous curve with arbitrary shape, spanning from one side to the other side of a sensor ﬁeld. We assign a coverage measure (a real value) to represent the coverage characteristics of a single space point. The objective is to identify such a penetration path on which every single point satisﬁes the required coverage measure. Acknowledgments I would like to thank all the staff of Springer (Wayne Wheeler, Simon Rees, Cather- ine Brett) for their supports and assistances during the writing and production of the book. I am also grateful to my supervisors and colleagues who supported me and shared with me the exciting task of researching coverage issues in these years: Chua Kee Chaing, Vikram Srinivasan, Lim Hock Beng, Wang Wei, and Zhao Qun. Finally, I want to acknowledge my wife, Minghua, for her patience and support during the production of this book. About the Author Bang Wang received his Bachelor of Engineering and Master of Engineering de- gree from the Department of Electronics and Information Engineering in Huazhong University of Science and Technology (HUST) Wuhan, China in 1996 and 2000, respectively, and his PhD degree in Electrical and Computer Engineering (ECE) Department of National University of Singapore (NUS) Singapore in 2004. During his research career from 2004 to 2006, Dr. Bang Wang had worked as a research scientist in Nokia R&D center in Aalborg Denmark, as a research fellow in NUS Singapore, and as a research engineer in Panasonic Singapore Laboratories Singa- pore. Since 2007, Dr. Bang Wang has worked as a researcher in the Intelligent Sys- tems Center (IntelliSys) in Singapore, an applied research center jointly set up by Singapore Technologies Engineering (ST Engineering) and Nanyang Technological

x Preface University (NTU). His main research interests include coverage and topology is- sues, distributed signal processing, resource allocation and optimization algorithms in wireless networks. Dr. Bang Wang had published more than forty technical ar- ticles in international journals, conferences, and books. He had also published one textbook and ﬁled one patent. Dr. Bang Wang is a member of IEEE and has served as a technical program committee member for many international conferences. Singapore Bang Wang

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