Wireless sensor networks are tightly associated with the underlying environment in which the sensors are deployed. The global topology of the network is of great importance to both sensor network applications and the implementation of networking functionalities. In this paper we study the problem of topology discovery, in particular, identifying boundaries in a sensor network. Suppose a large number of sensor nodes are scattered in a geometric region, with nearby nodes communicating with each other directly. Our goal is to find the boundary nodes by using only connectivity information. We do not assume any knowledge of the node locations or inter-distances, nor do we enforce that the communication graph follows the unit disk graph model. We propose a simple, distributed algorithm that correctly detects nodes on the boundaries and connects them into meaningful boundary cycles. We obtain as a byproduct the medial axis of the sensor field, which has applications in creating virtual coordinates for routing. We show by extensive simulation that the algorithm gives good results even for networks with low density. We also prove rigorously the correctness of the algorithm for continuous geometric domains.

Sensor positioning is a crucial part of many location-dependent applications that utilize wireless sensor networks (WSNs). Current localization approaches can be divided into two groups: range-based and range-free. Due to the high costs and critical assumptions, the range-based schemes are often impractical for WSNs. The existing range-free schemes, on the other hand, suffer from poor accuracy and low scalability. Without the help of a large number of uniformly deployed seed nodes, those schemes fail in anisotropic WSNs with possible holes. To address this issue, we propose the Rendered Path (REP) protocol. To the best of our knowledge, REP is the only range-free protocol for locating sensors with constant number of seeds in anisotropic sensor networks.

We study the problem of information brokerage in sensor networks, where information consumers (sinks, users) search for data acquired by information producers (sources). In-network storage such as geographical hash table (GHT) has been proposed to store data at rendezvous nodes for consumers to retrieve. In this paper, we propose a double rulings scheme which stores data replicas on a curve instead of one or multiple isolated sensors. The consumer travels along another curve which is guaranteed to intersect the producer curve. The double rulings is a natural extension of the flat hashing scheme such as GHTs. It has improved query locality, i.e., consumers close to producers find the data quickly, and structured aggregate queries, i.e., a consumer following a curve is able to retrieve all the data. Further, by the flexibility of retrieval mechanisms we have better routing robustness (as multiple retrieval paths are available) and data robustness against regional node failures. We show by simulation that the double rulings scheme provides reduced communication costs and more balanced traffic load on the sensors.

Geographic techniques promise highly scalable any-toany routing in wireless sensor networks. In one thread of research on geographic routing, researchers have explored robust, distributed graph planarization. Arguing that such planarization techniques have high overhead, researchers have more recently pursued a thread in which they propose precomputation of routing structures (e.g., hull trees and grids) to achieve low-overhead geographic routing. In this paper we introduce a third approach, LCR, that does not involve any precomputation of distributed routing structures, nor full a priori planarization. Instead, LCR removes non-planarities lazily only when they interfere with correct geographic routing. Lazy removal of link crossings results in an order of magnitude or more lower overhead than any previously proposed approach. Net-

Abstract—Many sensor network protocols in the literature implicitly assume that sensor nodes are deployed uniformly inside a simple geometric region. When the real deployment deviates from that, we often observe degraded performance. It is desirable to have a generic approach to handle a sensor field with complex shape. In this paper, we propose a segmentation algorithm that partitions an irregular sensor field into nicely shaped pieces such that algorithms and protocols that assume a nice sensor field can be applied inside each piece. Across the segments, problem dependent structures specify how the segments and data collected in these segments are integrated. This unified topology-adaptive spatial partitioning would benefit many settings that currently assume a nicely shaped sensor field. Our segmentation algorithm does not require sensor locations and only uses network connectivity information. Each node is given a ‘flow direction ’ that directs away from the network boundary. A node with no flow direction becomes a sink, and attracts other nodes in the same segment. We evaluate the performance improvements by integrating shape segmentation with applications such as distributed indices and random sampling. I.

Abstract—We study the problem of localizing a large sensor network having a complex shape, possibly with holes. A major challenge with respect to such networks is to figure out the correct network layout, i.e., avoid global flips where a part of the network folds on top of another. Our algorithm first selects landmarks on network boundaries with sufficient density, then constructs the landmark Voronoi diagram and its dual combinatorial Delaunay complex on these landmarks. The key insight is that the combinatorial Delaunay complex is provably globally rigid and has a unique realization in the plane. Thus an embedding of the landmarks by simply gluing the Delaunay triangles properly recovers the faithful network layout. With the landmarks nicely localized, the rest of the nodes can easily localize themselves by trilateration to nearby landmark nodes. This leads to a practical and accurate localization algorithm for large networks using only network connectivity. Simulations on various network topologies show surprisingly good results. In comparison, previous connectivity-based localization algorithms such as multi-dimensional scaling and rubberband representation generate globally flipped or distorted localization results. I.

Abstract—We propose a pervasive usage of the sensor network infrastructure as a cyber-physical system for navigating internal users in locations of potential danger. Our proposed application differs from previous work in that they typically treat the sensor network as a media of data acquisition while in our navigation application, in-situ interactions between users and sensors become ubiquitous. In addition, human safety and time factors are critical to the success of our objective. Without any preknowledge of user and sensor locations, the design of an effective and efficient navigation protocol faces non-trivial challenges. We propose to embed a road map system in the sensor network without location information so as to provide users navigating routes with guaranteed safety. We accordingly design efficient road map updating mechanisms to rebuild the road map in the event of changes in dangerous areas. In this navigation system, each user only issues local queries to obtain their navigation route. The system is highly scalable for supporting multiple users simultaneously. We implement a prototype system with 36 TelosB motes to validate the effectiveness of this design. We further conduct comprehensive and large-scale simulations to examine the efficiency and scalability of the proposed approach under various environmental dynamics. Keywords—navigation; sensor networks; cyber-physical system I.

Abstract — Wireless routing based on an embedding of the connectivity graph is a very promising technique to overcome shortcomings of geographic routing and topology-based routing. This is of particular interest when either absolute coordinates for geographic routing are unavailable or when they poorly reflect the underlying connectivity in the network. We focus on dynamic networks induced by time-varying fading and mobility. This requires that the embedding is stable over time, whereas the focus of most existing embedding algorithms is on low distortion of single realizations of a graph. We develop a beaconbased distributed embedding algorithm that requires little control overhead, produces low distortion embeddings, and is stable. We also show that a low-dimensional embedding suffices, since at a sufficiently large scale, wireless connectivity graphs are dictated by geometry. The stability of the embedding allows us to combine georouting on the embedding with last encounter routing (LER) for node lookup, further reducing the control overhead. Our routing algorithm avoids dead ends through randomized greedy forwarding. We demonstrate through extensive simulations that our combined embedding and routing scheme outperforms existing algorithms. I.

Abstract—We propose a generic routing table design principle for scalable routing on networks with bounded geometric growth. Given an inaccurate distance oracle that estimates the graph distance of any two nodes with constant factor upper and lower bounds, we augment it by storing the routing paths of pairs of nodes, selected in a spatial distribution, and show that the routing table enables 1 + ε stretch routing. In the wireless ad hoc and sensor network scenario, the geographic locations of the nodes serve as such an inaccurate distance oracle. Each node p selects O(log n loglog n) other nodes from a distribution proportional to 1/r 2 where r is the distance to p and the routing paths to these nodes are stored on the nodes along these paths in the network. The routing algorithm selects links conforming to a set of sufficient conditions and guarantees with high probability 1+ε stretch routing with routing table size O ( √ n log n loglog n) on average for each node. This scheme is favorable for its simplicity, generality and blindness to any global state. It is a good example that global routing properties emerge from purely distributed and uncoordinated routing table design. I.

The diversity of the deployment settings of sensor networks is naturally inherited from the diversity of geographical features of the embedded environment, and greatly influences network design. Many sensor network protocols in the literature implicitly assume that sensor nodes are deployed inside a simple geometric region, without considering possible obstacles and holes in the deployment environment. When the real deployment setting deviates from that, we often observe degraded performance. Thus, it is highly desirable to have a generic approach to handle sensor fields with complex shapes. In this paper, we propose a segmentation algorithm that partitions an irregular sensor field into nicely shaped pieces such that algorithms and protocols that assume a nice sensor field can be applied inside each piece. Across the segments, problem dependent structures specify how the segments and data collected in these segments are integrated. Our segmentation algorithm does not require any extra knowledge (e.g., sensor locations) and only uses network connectivity information. This unified spatial-partitioning approach makes the protocol design become flexible and independent of deployment specifics. Existing protocols are still reusable with segmentation, and the development of new topology-adaptive protocols becomes much easier. We verified the correctness of the algorithm on various topologies and evaluated the performance improvements by integrating shape segmentation with several fundamental problems in network design.