Robust Geographic Routing and Location-based Services
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Transcript of Robust Geographic Routing and Location-based Services
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Robust Geographic Routing and Location-based ServicesAhmed HelmyCISE DepartmentUniversity of [email protected]://www.cise.ufl.edu/~helmy Wireless & Mobile Networking Lab http://nile.cise.ufl.edu
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*Birds-Eye View: Research in the Wireless Networks Lab at UFL
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*Geographic Services in Wireless NetworksRobust Geographic RoutingRobut GeocastGeographic Rendezvous for Mobile Peer-to-Peer Networks (R2D2)Outline
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*Robust Geographic RoutingGeographic routing has been proven correct and efficient under assumptions of:(I) Accurate node locations(II) Unit disk graph radio model (Ideal/reliable links)
In practiceNode locations are obtained with a margin of errorWireless links are highly variable and usually unreliable
So How would geographic routing perform if these assumptions are relaxed?
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*Problem Statement and ApproachQ: How is geographic routing affected by location inaccuracy?Approach: - Perform location sensitivity analysis: perturb node locations and analyze protocol behavior - Conduct:- Correctness Analysis (using micro-level stress analysis)- Performance Analysis (using systematic simulations, experiments)* K. Seada, A. Helmy, R. Govindan, "On the Effect of Localization Errors on Geographic Face Routing in Sensor Networks", The Third IEEE/ACM International Symposium on Information Processing in Sensor Networks (IPSN), April 2004.On the Effect of Localization Errors on Geographic Face Routing in Sensor Networks Karim Seada, Ahmed Helmy, Ramesh Govindan
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*Basics of Geographic RoutingA node knows its own location, the locations of its neighbors, and the destinations location (D)The destinations location is included in the packet headerForwarding decision is based on local distance informationGreedy Forwarding: achieve max progress towards DxDyGreedy Forwarding
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*Geographic Routing(I) Greedy forwarding Next hop is the neighbor that gets the packet closest to destination
Greedy forwarding fails when reaching a dead end (or void, or local minima)destinationsource
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*(II) Dead-end Resolution (Local Minima)Getting around voids using face routing in planar graphsNeed a planarization algorithm
* P. Bose, P. Morin, I. Stojmenovic, and J. Urrutia. Routing with Guaranteed Delivery in Ad Hoc Wireless Networks. DialM Workshop, 99.* GPSR: Karp, B. and Kung, H.T., Greedy Perimeter Stateless Routing for Wireless Networks, ACM MobiCom, , pp. 243-254, August, 2000.Planarized Wireless Network Removed LinksKept LinksFace Routing* void
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*Problem Statement:Q: How is geographic routing affected by location inaccuracy?Approach: - Perform sensitivity analysis: perturb locations & analyze behavior - Conduct:- Correctness Analysis (using micro-level stress analysis)- Performance Analysis (using systematic simulations)* K. Seada, A. Helmy, R. Govindan, "On the Effect of Localization Errors on Geographic Face Routing in Sensor Networks", The Third IEEE/ACM International Symposium on Information Processing in Sensor Networks (IPSN), April 2004.On the Effect of Localization Errors on Geographic Routing in Sensor Networks* Karim Seada, Ahmed Helmy, Ramesh Govindan
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*Evaluation FrameworkMicro-level algorithmic Stress analysisDecompose geographic routing into componentsplanarization algorithm, face routing, greedy forwarding Start from algorithm and construct complete conditions and bounds for possible errorsClassify errors and understand cause to aid fixSystematic SimulationsAnalyze performance and map degradation to errorsEstimate most probable errors and design fixesRe-simulate to evaluate efficacy of fixes
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*Relative Neighborhood Graph (RNG) Planarization AlgorithmsGabriel Graph (GG)A node u removes the link u-v from the planar graph, if node w (called a witness) exists in the shaded regionRemoved linkRemoved link
For each node u, where N is a list of the neighbors of u:
for all v ( N
for all w ( N
if w == v then continue
else if d(u,v)>max[d(u,w),d(w,v)]
remove edge (u,v)
w
v
u
Figure 2: GG planarization algorithm
_1118322950.doc
For each node u, where N is a list of the neighbors of u:
for all v ( N
for all w ( N
if w == v then continue
else if d(c,w)
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* Excessive edge removal leading to network disconnectionMirco-level Algorithmic ErrorsIn RNG an error will happen when decision{d(u,v)>max[d(u,w),d(w,v)]} decision{d(u`,v`)>max[d(u`,w`),d(w`,v`)]}While in GG error will happen when decision{d(c,w) < d(c,u)} decision{d(c`,w`) < d(c`,u`)}
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*Permanent loop due to insufficient edge removalCross links causing face routing failure Inaccuracy in destination location leading to looping and delivery failure
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*Conditions that violate the unit-graph assumption cause face routing failure uvwv's rangeInaccurate Location EstimationObstaclesIrregular Radio RangeDisconnectionsCross-Linksw's rangeu's range
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*Systematic SimulationsLocation error model: uniformly distributed errorInitially set to 1-10% of the radio range (R)For validation set to 10-100% of RSimulation setup1000 nodes distributed uniformly, clustered & with obstaclesConnected networks of various densitiesEvaluation Metric Success rate: fraction of number of reachable routes between all pairs of nodesProtocols : GPSR and GHT
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*GPSRGPSR with the fixGHTGHT with the fixMutual Witness MechanismThese are correctness errors leading to persistent routing failures. Even small percentage of these errors are Unacceptable in static stable networks
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*GPSR without the fixGPSR with the fixGHT without the fixGHT with the fixThe mutual witness fix achieves near-perfect delivery even in the face of large location inaccuracies.BeforeAfter
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*Geographic Routing with Lossy Links*Karim Seada, Marco Zuniga, Ahmed Helmy, Bhaskar Krishnamachari* K. Seada, M. Zuniga, A. Helmy, B. Krishnamachari, Energy-Efficient Forwarding Strategies for Geographic Routing in Lossy Wireless Sensor Networks, The Second ACM Conference on Embedded Networked Sensor Systems (SenSys), pp. 108-121, November 2004. Wireless Loss ModelGeographic routing employs max-distance greedy forwardingUnit graph model unrealisticGreedy routing chooses weak links to forward packets
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ConnectedRegion
TransitionalRegion
DisconnectedRegion
Reception Rate
Distance between two neighbors (m)
Packet Reception Rate (per link)
LM7Reception
node iddistancereception rate
00.726912029.07648
00.96628038.6512
00.507532020.30128
00.0783713.1348
00.07591413.03656
00.735792029.43168
00.830941033.23764
00.568926022.75704
10.787267031.49068
10.781397031.25588
10.617013024.68052
10.701565028.0626
10.462071018.48284
10.915098036.60392
10.1748116.9924
10.258398110.33592
10.657881026.31524
10.892352035.69408
10.706796028.27184
10.532034021.28136
10.5643070.01546322.57228
10.809709032.38836
10.421738016.86952
10.803693032.14772
10.840953033.63812
10.21656618.66264
10.6235410.99964924.94164
10.993689039.74756
10.516047020.64188
10.852524034.10096
20.726912029.07648
20.923234036.92936
20.855178034.20712
20.493620.00550719.7448
20.861054034.44216
20.714238028.56952
20.904846036.19384
20.6896190.64410427.58476
20.651162026.04648
20.08454413.38176
20.23057719.22308
20.629586025.18344
20.7006890.01731428.02756
20.922137036.88548
20.938317037.53268
20.15844216.33768
20.965172038.60688
20.573009022.92036
20.4819420.00069619.27768
30.4161410.85214416.64564
30.445825117.833
30.3116760.23970712.46704
30.384060.95366115.3624
30.789105031.5642
30.864454034.57816
30.770789030.83156
30.829255033.1702
30.907655036.3062
30.5605220.30327222.42088
30.921086036.84344
30.3727840.02666614.91136
30.98694039.4776
30.3499330.97254813.99732
30.543303021.73212
30.99905039.962
30.21921418.76856
30.297239011.88956
40.787267031.49068
40.905078036.20312
40.5599330.00004122.39732
40.625712025.02848
40.759619030.38476
40.703347028.13388
40.953999038.15996
40.981666039.26664
40.803815032.1526
40.5357430.9585221.42972
40.5773710.0757823.09484
40.4809570.0001919.23828
40.939208037.56832
40.296272111.85088
40.651492026.05968
40.984666039.38664
40.5382090.97663921.52836
40.303242112.12968
40.913617036.54468
40.773668030.94672
40.685271027.41084
40.467330.98726818.6932
50.827333033.09332
50.865565034.6226
50.797213031.88852
50.940848037.63392
50.693821027.75284
50.463997018.55988
50.737137029.48548
50.19005117.60204
50.24516219.80648
60.31551112.6204
60.309529012.38116
60.809441032.37764
60.2996930.99999411.98772
60.4975580.0024319.90232
60.3328830.98048413.31532
60.16587916.63516
60.5305860.00018121.22344
60.662611026.50444
60.814924032.59696
70.827333033.09332
70.984242039.36968
70.794444031.77776
70.784578031.38312
70.3943310.99996615.77324
70.882826035.31304
70.791442031.65768
70.778405031.1362
70.76515030.606
70.561623022.46492
70.62221024.8884
80.905078036.20312
80.766153030.64612
80.637395025.4958
80.14932515.973
80.34932113.9728
80.4619580.00464718.47832
80.3038250.99992712.153
80.3775030.99836615.10012
80.948291037.93164
80.552124022.08496
80.3551460.00013814.20584
80.14173415.66936
80.850537034.02148
80.273761110.95044
80.4860340.03350419.44136
80.778941031.15764
90.315510.97026212.6204
90.5051930.99994120.20772
90.954885038.1954
90.609738024.38952
90.55753022.3012
90.05884612.35384
90.3727550.87629714.9102
90.731486029.25944
90.461446018.45784
100.505193020.20772
100.3095290.99936512.38116
100.984242039.36968
100.742714029.70856
100.4999120.75934419.99648
100.290177011.60708
100.996729039.86916
100.251094110.04376
100.484694019.38776
100.15045416.01816
100.23109819.24392
100.622821024.91284
100.917487036.69948
100.531371021.25484
100.775999031.03996
110.865565034.6226
110.2888990.99995111.55596
110.63682025.4728
110.4809030.86232519.23612
110.93049037.2196
120.6114920.00012324.45968
120.547379021.89516
120.922665036.9066
120.4835130.47866119.34052
120.4404030.64677217.61612
120.87661035.0644
120.866641034.66564
120.823084032.92336
120.411379016.45516
120.769544030.78176
120.4193050.00011316.7722
120.667285026.6914
120.17020616.80824
120.302329112.09316
120.956025038.241
120.850091034.00364
120.878552035.14208
130.925443037.01772
130.884575035.383
130.759942030.39768
130.19208317.68332
130.681241027.24964
130.769301030.77204
130.931991037.27964
130.14465715.78628
130.502430.01161720.0972
130.908016036.32064
130.957441038.29764
140.742714029.70856
140.781397031.25588
140.794444031.77776
140.377727115.10908
140.80942032.3768
140.661242026.44968
140.753481030.13924
140.574665022.9866
140.88886035.5544
140.813197032.52788
140.5130.01740820.52
140.996925039.877
140.18193417.27736
140.21254818.50192
140.892084035.68336
140.23744919.49796
150.611492024.45968
150.923234036.92936
150.835586033.42344
150.851165034.0466
150.837177033.48708
150.3156250.3382812.625
150.430605017.2242
150.335033113.40132
150.925969037.03876
150.830288033.21152
150.868244034.72976
150.900122036.00488
150.956846038.27384
150.924817036.99268
150.651268026.05072
150.19421717.76868
150.902899036.11596
150.776799031.07196
150.691763027.67052
150.774337030.97348
150.4048010.00001316.19204
150.683593027.34372
150.954766038.19064
150.712519028.50076
150.943722037.74888
160.559933022.39732
160.797213031.88852
160.9741038.964
160.77875031.15
160.752588030.10352
160.945457037.81828
160.557056022.28224
160.610245024.4098
160.6164640.00425324.65856
160.2826260.99700111.30504
160.79057031.6228
160.6099310.69341624.39724
160.516673020.66692
160.662501026.50004
170.835586033.42344
170.625712025.02848
170.766153030.64612
170.798067031.92268
170.20237618.09504
170.678206027.12824
170.962794038.51176
170.790566031.62264
170.738808029.55232
170.909597036.38388
170.4133360.93763916.53344
170.48167019.2668
170.665019026.60076
170.988959039.55836
170.818973032.75892
170.391261115.65044
170.919347036.77388
170.4757740.2352519.03096
170.836304033.45216
170.7447029.788
170.5142170.00000120.56868
170.928899037.15596
170.675443027.01772
170.15459416.18376
170.968571038.74284
170.858194034.32776
170.784398031.37592
170.551592022.06368
180.4161410.71101216.64564
180.588434023.53736
180.5956050.00007723.8242
180.953271038.13084
180.721882028.87528
180.956237038.24948
180.926745037.0698
180.697031027.88124
180.46617018.6468
180.3875760.99927915.50304
180.748533029.94132
180.646664025.86656
180.685487027.41948
180.525067021.00268
180.957316038.29264
180.895851035.83404
180.772263030.89052
180.3865980.99999715.46392
180.82304032.9216
180.3210170.00090812.84068
180.740022029.60088
180.583417023.33668
180.290371111.61484
180.5551690.36133722.20676
190.925443037.01772
190.445825017.833
190.588434023.53736
190.20004518.0018
190.3082310.99815712.32924
190.966731038.66924
190.678899027.15596
190.896366035.85464
190.970346038.81384
190.910883036.43532
190.779758031.19032
190.646425025.857
190.7351520.00728629.40608
190.15500716.20028
190.32830.95450913.132
190.17585717.03428
200.20004518.0018
200.3116760.94805312.46704
200.5956050.86967823.8242
200.13945715.57828
200.982796039.31184
200.847545033.9018
200.870252034.81008
200.680340.49196127.2136
200.841762033.67048
200.649053025.96212
200.2402630.8258729.61052
200.305240.97926912.2096
200.04543511.8174
210.953271038.13084
210.6170130.00032724.68052
210.3024620.99568412.09848
210.4606980.00001618.42792
210.898362035.93448
210.587671023.50684
210.638649025.54596
210.62088024.8352
210.722365028.8946
210.4008210.96570816.03284
210.712414028.49656
210.7757031.028
210.621193024.84772
210.4766040.55089619.06416
210.1558316.2332
210.344571113.78284
210.831031033.24124
210.5738022.952
210.525639021.02556
210.4129350.99665716.5174
220.3082310.99424612.32924
220.13945715.57828
220.384060.99841915.3624
220.721882028.87528
220.978449039.13796
220.939712037.58848
220.755347030.21388
220.953446038.13784
220.733811029.35244
220.2770440.99999911.08176
220.4337010.91049217.34804
220.18487617.39504
230.954885038.1954
230.809441032.37764
230.499912019.99648
230.3777270.99261615.10908
230.692357027.69428
230.926605037.0642
230.779389031.17556
230.412364016.49456
230.916842036.67368
230.910761036.43044
230.647658025.90632
230.945614037.82456
230.990208039.60832
230.2991370.81339311.96548
230.843211033.72844
230.552464022.09856
230.2645920.99998810.58368
230.5533620.13880422.13448
230.802427032.09708
240.3024620.9955512.09848
240.701565028.0626
240.851165034.0466
240.798067031.92268
240.972855038.9142
240.3262840.11426413.05136
240.680095027.2038
240.885828035.43312
240.790477031.61908
240.61225024.49
240.7183070.05093628.73228
240.443178017.72712
240.492842019.71368
240.500622020.02488
240.777465031.0986
240.93801037.5204
240.917922036.71688
240.18434317.37372
240.11189414.47576
240.5318980.00000621.27592
240.876017035.04068
240.7652610.01259530.61044
240.525337021.01348
240.4608950.55117418.4358
250.972855038.9142
250.837177033.48708
250.759619030.38476
250.20237618.09504
250.637395025.4958
250.855178034.20712
250.878237035.12948
250.687859027.51436
250.58008023.2032
250.615568024.62272
250.4315240.99698517.26096
250.664785026.5914
250.898257035.93028
250.98787039.5148
250.888629035.54516
250.3002740.98569612.01096
250.903006036.12024
250.2735030.99998710.94012
250.997658039.90632
250.554650.39372822.186
250.5997830.8819223.99132
250.524529020.98116
250.21816918.72676
250.998623039.94492
250.804326032.17304
250.584578023.38312
250.3801050.9971715.2042
260.460698018.42792
260.4620710.98813218.48284
260.3262840.99994513.05136
260.7033470.22410328.13388
260.678206027.12824
260.878237035.12948
260.947749037.90996
260.601912024.07648
260.936218037.44872
260.24273619.70944
260.273322110.93288
260.8222360.09618432.88944
260.840746033.62984
260.611884024.47536
260.3129150.99088612.5166
260.4346410.30475317.38564
260.689047027.56188
260.654718026.18872
260.88571035.4284
260.966347038.65388
260.711349028.45396
260.24903619.96144
260.733462029.33848
260.769886030.79544
270.956237038.24948
270.898362035.93448
270.680095027.2038
270.947749037.90996
270.547379021.89516
270.315625112.625
270.962794038.51176
270.744913029.79652
270.5494620.84530921.97848
270.7116930.03411628.46772
270.5553290.1511222.21316
270.584526023.38104
270.946688037.86752
270.725656029.02624
270.348344013.93376
270.263499110.53996
270.850088034.00352
270.848265033.9306
270.580994023.23976
270.5452380.08188321.80952
270.579075023.163
270.45020.99997418.008
270.829536033.18144
270.961363038.45452
270.987691039.50764
270.951306038.05224
270.6522120.00001926.08848
280.884575035.383
280.926745037.0698
280.587671023.50684
280.915098036.60392
280.885828035.43312
280.813066032.52264
280.88326035.3304
280.938868037.55472
280.840565033.6226
280.3665930.99277914.66372
280.693373027.73492
280.21042518.417
280.737504029.50016
280.901918036.07672
280.8378410.00000233.51364
280.09271413.70856
280.742161029.68644
280.958225038.329
280.503702020.14808
280.71554028.6216
290.922665036.9066
290.744913029.79652
290.430605017.2242
290.790566031.62264
290.687859027.51436
290.49362019.7448
290.96628038.6512
290.455010.11595618.2004
290.648428025.93712
290.967652038.70608
290.903871036.15484
290.5760430.00589623.04172
290.575451023.01804
290.951974038.07896
290.699949027.99796
290.6193030.0001924.77212
290.883313035.33252
290.62531025.0124
290.648659025.94636
290.5419440.08429421.67776
290.797081031.88324
290.3899770.26310115.59908
300.609738024.38952
300.2996930.99999111.98772
300.2901770.00344711.60708
300.692357027.69428
300.80942032.3768
300.784578031.38312
300.540826021.63304
300.617333024.69332
300.96454038.5816
300.283536111.34144
300.394669115.78676
300.872682034.90728
300.957743038.30972
300.607702024.30808
300.753633030.14532
310.4835130.00769619.34052
310.5494620.94281621.97848
310.335033113.40132
310.455010.00000718.2004
310.861054034.44216
310.9031036.124
310.531718021.26872
310.883243035.32972
310.893876035.75504
310.982054039.28216
310.287432011.49728
310.944846037.79384
310.62974025.1896
310.750225030.009
310.736187029.44748
310.960492038.41968
310.835359033.41436
310.837605033.5042
320.789105031.5642
320.697031027.88124
320.4404030.70629617.61612
320.711693028.46772
320.925969037.03876
320.9031036.124
320.696995027.8798
320.609331024.37324
320.05210312.08412
320.72713029.0852
320.742152029.68608
320.2289950.9919349.1598
320.2754390.50251511.01756
320.1554316.2172
320.417606016.70424
320.455546018.22184
320.908058036.32232
320.865902034.63608
330.926605037.0642
330.813066032.52264
330.6612420.98875526.44968
330.638649025.54596
330.1748116.9924
330.790477031.61908
330.601912024.07648
330.953999038.15996
330.3681320.99946714.72528
330.821598032.86392
330.882643035.30572
330.602867024.11468
330.685732027.42928
330.628205025.1282
330.891142035.64568
330.532429021.29716
330.942199037.68796
330.730613029.22452
330.373081014.92324
330.5261010.00222821.04404
330.869461034.77844
330.634663025.38652
330.773302030.93208
340.996729039.86916
340.779389031.17556
340.746887029.87548
340.417135016.6854
340.291186111.64744
340.953508038.14032
340.724706028.98824
340.10684914.27396
350.87661035.0644
350.830288033.21152
350.531718021.26872
350.648428025.93712
350.714238028.56952
350.507532020.30128
350.558094022.32376
350.488903019.55612
350.819119032.76476
350.77531031.0124
350.921454036.85816
350.5961610.00037223.84644
350.982513039.30052
360.864454034.57816
360.88326035.3304
360.466170.99543518.6468
360.62088024.8352
360.696995027.8798
360.61225024.49
360.936218037.44872
360.866641034.66564
360.555329022.21316
360.868244034.72976
360.10702514.281
360.990548039.62192
360.742555029.7022
360.78077031.2308
360.22992719.19708
360.920266036.81064
360.796956031.87824
360.6699250.01945826.797
360.675815027.0326
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