DRNS:

Dynamical Relay Node placement Solution

Authors:
Roberto Magn Carrin
Pedro Garca Teodoro
Jos Camacho Pez
Eduardo Feo Flushing
Gianni A. Di Caro

Seville, 3rd June 2016

 CONTENTS

1. Motivation
2. Solution: DRNS
3. Simulation results
4. Real MANET deployment
5. Demonstration
6. Main contributions & future works

Contents
 ROADMAP

1. Motivation
2. Solution: DRNS
3. Simulation results
4. Real MANET deployment
5. Demonstration
6. Main contributions & Future works

Roadmap 1 / 21
 1. MOTIVATION

MANET environment

DRNS (Dynamical Relay Node placement Solution) 2 / 21

 ROADMAP

1. Motivation
2. Solution: DRNS
3. Simulation results
4. Real MANET deployment
5. Demonstration
6. Main contributions & Future works

Roadmap 3 / 21
 2. SOLUTION
Relay node placement:
DRNS (Dynamical Relay Node placement Solution)

I. What is the RNs optimum location at a given certain time?

II. How should they moved to these previous locations?

DRNS
To maximize the connectivity and throughput

PSO (Particle Swarm Optimization)

MPC (Model Predictive Control)
Network Nodes -> User Nodes (UN)
Relay Node (RN)
Faults, movements, malicious actuations
Optimizacin del posicionamiento de nodos relay en MANET 4 / 21
 2.1 OPTIMIZATION ALGORITHM

PSO (Particle Swarm Optimization)

Evolutionary algorithms: wide and complex search spaces
To emulate social behaviors of species
Through the individual and global knowledge
Towards the fitness solution (particle) due to specific objective
function
Inertia coefficient

Velocity increments Individual knowledge Global knowledge

(cognitive) (social)

New position of the particle at time (t)

DRNS (Dynamical Relay Node placement Solution) 5 / 21

 2.2 DKS SOLUTION
Relay Node (RN)
Locations at
(t)

O1
Relay Node (RN)
Objective functions O2
PSO Locations at
(t + 1)

O3
User Node (UN)
motion prediction at
O1 Connectivity (t + H)
Motion
O2 Throughput H Prediction horizon
predictor
O3 Distancies User Node (UN)
locations at
(t)

O. Dengiz, A. Konak, and A. E. Smith, Connectivity management in mobile ad hoc networks using particle swarm optimization, Ad Hoc Networks. Sep. 2011.

DRNS (Dynamical Relay Node placement Solution) 6 / 21

 2.3 DKS LIMITATIONS

Limitations Solutions
Independent optimization
JOINT USE OF SEVERAL
procedures that involves
COST FUNCTIONS
unique cost functions

DISCRETE COST FUNCTIONS Smooth and continuous

cost functions
Alternative
FUNCTION O3 IS ILL-DEFINED
cost function

NAIVE ATTRACTION POINT Optimized Attraction Point

(AP) DEFINITION (AP) location

DRNS (Dynamical Relay Node placement Solution) 7 / 21

 2.4 RN LOCATION & MOVEMENT CONTROL
IMPROVEMENTS
Optimized location and movement control
Independent optimization procedures: connected and disconnected networks
Unique, smooth and continuous cost functions

U(t+H)
O1(Gu) = 1 O1(Gu) < 1
O1(GU)

PSO optimization for connected networks PSO optimization for disconnected networks
DRNS (Dynamical Relay Node placement Solution) 8 / 21
 2.5 OVERALL ARCHITECTURE

DRNS (Dynamical Relay Node placement Solution)

DRNS (Dynamical Relay Node placement Solution) 9 / 21

 ROADMAP

1. Motivation
2. Solution: DRNS
3. Simulation results
4. Real MANET deployment
5. Demonstration
6. Main contributions & Future works

Roadmap 10 / 21
 3.1 SIMULATION ENVIRONMENT

Simulation environment (Matlab)

MANET
Node coverage range: 1 m
Network area: 6.6 m x 5.4 m
UN velocity: 0.1 m/ts
RN velocity: 0.15 m/ts
#UN: 3
#RN: 0-3
UN mobility pattern: RWP
DRNS vs DKS solution

DRNS (Dynamical Relay Node placement Solution) 11 / 21

 3.2 SIMULATION RESULTS

Results

DRNS (Dynamical Relay Node placement Solution) 12 / 21

 ROADMAP

1. Motivation
2. Solution: DRNS
3. Simulation results
4. Real MANET deployment
5. Demonstration
6. Main contributions & Future works

Roadmap 13 / 21
 4.1 REAL MANET ENVIRONMENT DEPLOYMENT

IDSIA Swarm Robotics Laboratory

Tracking system infrared

cameras and reflectors
6.6 m

WiFi
interfaces
Robotics lab -> http://robotics.idsia.ch foot-bot
Gianni A. Di Caro -> http://www.giannidicaro.com
E. Feo Flushing -> http://people.idsia.ch/~feo
DRNS (Dynamical Relay Node placement Solution) 14 / 21
 4.2 REAL MANET ENVIRONMENT DEPLOYMENT
Navigation algorithm
UN velocity: 0.1 m/s
RN velocity: 0.2 m/s
Safety surrounding zone
Target points
Current positions
Central station
Tracker interface
Motion manager
DRNS engine
Communications
LCM
A. S. Huang et al. LCM: Lightweight Communications and
Marshalling, in 2010 IEEE/RSJ International Conference on
Intelligent Robots and Systems (IROS), 2010

J. Guzzi et al., Human-friendly robot navigation in dynamic

environments, in 2013 IEEE International Conference on Robotics
and Automation (ICRA), 2013

C. Pinciroli et al., ARGoS: a modular, parallel, multi-engine

simulator for multi-robot systems, Swarm Intelligence, 2012.

DRNS (Dynamical Relay Node placement Solution) 15 / 21

 4.3 REAL MANET ENVIRONMENT DEPLOYMENT

Results

DRNS (Dynamical Relay Node placement Solution) 16 / 21

 ROADMAP

1. Motivation
2. Solution: DRNS
3. Simulation results
4. Real MANET deployment
5. Demonstration
6. Main contributions & Future works

Roadmap 17 / 21
 5. DEMONSTRATION

Demo 1: 2 UN, 2 RN Demo 2: 7 UN, 3 RN

DRNS (Dynamical Relay Node placement Solution) 18 / 21

 ROADMAP

1. Motivation
2. Solution: DRNS
3. Simulation results
4. Real MANET deployment
5. Demonstration
6. Main contributions & Future works

Roadmap 19 / 21
 6.1 MAIN CONTRIBUTIONS

A modular and flexible RN placement solution

A fixed number of relays is considered: practical
assumption
The AP optimization module: a solution for static
scenarios
Low impact of the computational complexity
DRNS in real robotic MANET environments

Main contributions 20 / 21
 6.2 FUTURE WORKS

To build a decentralized version of DRNS

To include new parameters inside the cost functions
To extend the DRNS solution to 3D scenarios
To evaluate alternative optimization algorithms in DRNS
Evaluation DRNS as response/tolerance system against
malicious behaviors (droppers)

Future works 21 / 21
 DRNS:
Dynamical Relay Node placement Solution

This work is funded by the Ministry of

Economy and Competitiveness and FEDER
funds through the
TIN2014-60346-R project

http://nesg.ugr.es/veritas

Seville, 3rd June 2016