With the proliferation of sensor networks and sensor network applications, the overall complexity of such systems is continuously increasing. Sensor networks are now heterogeneous in terms of their hardware characteristics and application requirements even within a single network. In addition

I would like to thank Prof. Dr. Torsten Braun, head of the Computer Network and Distributed Systems group (RVS), for supervising this work and for his insightful advises. Prof. Dr. Torsten Braun encouraged and motivated me to publish my research results and he provided me the opportunity to present

, sending few beacons in stable topologies yet quickly adapting to changes. Finally, Magnet addresses transient loops by using data traffic as active topology probes, quickly discovering and fixing routing failures. Magnet runs on six different mote platforms and we have tested it on four testbeds. In most

. Current state-of-the-art peer-to-peer systems exploit their heterogeneity by introducing two-level hierarchies of peers. High capability peers, so called super-peers, form an independent sub-topology within the existing peer-to-peer network and handle the core system functionality, such as indexing peer

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to reach the destination. This leads to increased overhead (encapsulation) and to sub-optimal paths (tunneling without consideration for the actual network topology). In this paper, we investigate route-optimization in nested NEMO networks. We employ an ad-hoc routing protocol between mobile routers

. For example, minimization of the number of mutations can be applied after correction for multiple changes (corrected parsimony; In general, we prefer to treat a ''method'' for inferring evolutionary trees as being composed of three largely independent parts: the choice of optimality

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