The ability of robots to estimate their location is crucial for a wide variety of autonomous operations. In settings where GPS is unavailable, measurements of transmissions from fixed beacons provide an effective means of estimating a robot's location as it navigates. The accuracy of such a beacon-based localization system depends both on how beacons are distributed in the environment, and how the robot's location is inferred based on noisy and potentially ambiguous measurements. We propose an approach for making these design decisions automatically and without expert supervision, by explicitly searching for the placement and inference strategies that, together, are optimal for a given environment. Since this search is computationally expensive, our approach encodes beacon placement as a differential neural layer that interfaces with a neural network for inference. This formulation allows us to employ standard techniques for training neural networks to carry out the joint optimization. We evaluate this approach on a variety of environments and settings, and find that it is able to discover designs that enable high localization accuracy.
The sensor selection problem @cite_25 @cite_12 considers related scenarios in which there is a cost associated to querying sensors. The problem is to choose the subset of sensors to utilize at each point in time so as to balance inference accuracy with the corresponding query cost.
@cite_25 @cite_12
2144557169 2169207653
One of the most fundamental tasks of wireless sensor networks is to provide coverage of the deployment region. In this paper, we study the coverage of a line segment with a set of wireless sensors with adjustable coverage ranges. Each coverage range of a sensor is an interval centered at that sensor whose length is decided by the power the sensor chooses. The objective is to find a range assignment with the minimum cost. There are two variants of the optimization problem. In the discrete variant, each sensor can only choose from a finite set of powers while in the continuous variant, each sensor can choose power from a given interval. For the discrete variant of the problem, we present a polynomial-time exact algorithm. For the continuous variant of the problem, we develop constant-approximation algorithms when the cost for all sensors is proportional to rk for some constant k ≥ 1, where r is the covering radius corresponding to the chosen power. Specifically, if k = 1, we give a simple 1.25-approximation algorithm and a fully polynomial-time approximation scheme (FPTAS); if k > 1, we give a simple 2-approximation algorithm. We address the following sensor selection problem. We assume that a dynamic system possesses a certain property, call it Property D, when a set Γ of sensors is used. There is a cost cA associated with each set A of sensors that is a subset of Γ. Given any set of sensors that is a subset of Γ, it is possible to determine, via a test, whether the resulting system-sensor combination possesses Property D. Each test required to check whether or not Property D holds incurs a fixed cost. For each set of sensors A that is a subset of Γ there is an a priori probability pA that the test will be positive, i.e., the system-sensor combination possesses Property D. The objective is to determine a test strategy, i.e., a sequence of tests, to minimize the expected cost, associated with the tests, that is incurred until a least expensive combination of sensors that results in a system-sensor combination possessing Property D is identified. We determine conditions on the sensor costs cA and the a priori probabilities pA under which the strategy that tests combinations of sensors in increasing order of cost is optimal with respect to the aforementioned objective. Declarative queries are proving to be an attractive paradigm for ineracting with networks of wireless sensors. The metaphor that "the sensornet is a database" is problematic, however, because sensors do not exhaustively represent the data in the real world. In order to map the raw sensor readings onto physical reality, a model of that reality is required to complement the readings. In this paper, we enrich interactive sensor querying with statistical modeling techniques. We demonstrate that such models can help provide answers that are both more meaningful, and, by introducing approximations with probabilistic confidences, significantly more efficient to compute in both time and energy. Utilizing the combination of a model and live data acquisition raises the challenging optimization problem of selecting the best sensor readings to acquire, balancing the increase in the confidence of our answer against the communication and data acquisition costs in the network. We describe an exponential time algorithm for finding the optimal solution to this optimization problem, and a polynomial-time heuristic for identifying solutions that perform well in practice. We evaluate our approach on several real-world sensor-network data sets, taking into account the real measured data and communication quality, demonstrating that our model-based approach provides a high-fidelity representation of the real phenomena and leads to significant performance gains versus traditional data acquisition techniques. Spatial query execution is an essential functionality of a sensor network, where a query gathers sensor data within a specific geographic region. Redundancy within a sensor network can be exploited to reduce the communication cost incurred in execution of such queries. Any reduction in communication cost would result in an efficient use of the battery energy, which is very limited in sensors. One approach to reduce the communication cost of a query is to self-organize the network, in response to a query, into a topology that involves only a small subset of the sensors sufficient to process the query. The query is then executed using only the sensors in the constructed topology. The self-organization technique is beneficial for queries that run sufficiently long to amortize the communication cost incurred in self-organization. In this paper, we design and analyze algorithms for suchself-organization of a sensor network to reduce energy consumption. In particular, we develop the notion of a connected sensor cover and design a centralized approximation algorithm that constructs a topology involving a near-optimal connected sensor cover. We prove that the size of the constructed topology is within an O(logn) factor of the optimal size, where n is the network size. We develop a distributed self-organization version of the approximation algorithm, and propose several optimizations to reduce the communication overhead of the algorithm. We also design another distributed algorithm based on node priorities that has a further lower communication overhead, but does not provide any guarantee on the size of the connected sensor cover constructed. Finally, we evaluate the distributed algorithms using simulations and show that our approaches results in significant communication cost reductions. We study the problem of reducing test-time acquisition costs in classification systems. Our goal is to learn decision rules that adaptively select sensors for each example as necessary to make a confident prediction. We model our system as a directed acyclic graph (DAG) where internal nodes correspond to sensor subsets and decision functions at each node choose whether to acquire a new sensor or classify using the available measurements. This problem can be posed as an empirical risk minimization over training data. Rather than jointly optimizing such a highly coupled and non-convex problem over all decision nodes, we propose an efficient algorithm motivated by dynamic programming. We learn node policies in the DAG by reducing the global objective to a series of cost sensitive learning problems. Our approach is computationally efficient and has proven guarantees of convergence to the optimal system for a fixed architecture. In addition, we present an extension to map other budgeted learning problems with large number of sensors to our DAG architecture and demonstrate empirical performance exceeding state-of-the-art algorithms for data composed of both few and many sensors. Wireless sensor networks offer the potential to span and monitor large geographical areas inexpensively. Sensors, however, have significant power constraint (battery life), making communication very expensive. Another important issue in the context of sensor-based information systems is that individual sensor readings are inherently unreliable. In order to address these two aspects, sensor database systems like TinyDB and Cougar enable in-network data aggregation to reduce the communication cost and improve reliability. The existing data aggregation techniques, however, are limited to relatively simple types of queries such as SUM, COUNT, AVG, and MIN MAX. In this paper we propose a data aggregation scheme that significantly extends the class of queries that can be answered using sensor networks. These queries include (approximate) quantiles, such as the median, the most frequent data values, such as the consensus value, a histogram of the data distribution, as well as range queries. In our scheme, each sensor aggregates the data it has received from other sensors into a fixed (user specified) size message. We provide strict theoretical guarantees on the approximation quality of the queries in terms of the message size. We evaluate the performance of our aggregation scheme by simulation and demonstrate its accuracy, scalability and low resource utilization for highly variable input data sets. We consider the problem of choosing a set of k sensor measurements, from a set of m possible or potential sensor measurements, that minimizes the error in estimating some parameters. Solving this problem by evaluating the performance for each of the (m k) possible choices of sensor measurements is not practical unless m and k are small. In this paper, we describe a heuristic, based on convex optimization, for approximately solving this problem. Our heuristic gives a subset selection as well as a bound on the best performance that can be achieved by any selection of k sensor measurements. There is no guarantee that the gap between the performance of the chosen subset and the performance bound is always small; but numerical experiments suggest that the gap is small in many cases. Our heuristic method requires on the order of m 3 operations; for m= 1000 possible sensors, we can carry out sensor selection in a few seconds on a 2-GHz personal computer. A key problem in sensor networks is to decide which sensors to query when, in order to obtain the most useful information (e.g., for performing accurate prediction), subject to constraints (e.g., on power and bandwidth). In many applications the utility function is not known a priori, must be learned from data, and can even change over time. Furthermore for large sensor networks solving a centralized optimization problem to select sensors is not feasible, and thus we seek a fully distributed solution. In this paper, we present Distributed Online Greedy (DOG), an efficient, distributed algorithm for repeatedly selecting sensors online, only receiving feedback about the utility of the selected sensors. We prove very strong theoretical no-regret guarantees that apply whenever the (unknown) utility function satisfies a natural diminishing returns property called submodularity. Our algorithm has extremely low communication requirements, and scales well to large sensor deployments. We extend DOG to allow observation-dependent sensor selection. We empirically demonstrate the effectiveness of our algorithm on several real-world sensing tasks. We consider the problem of allocating resources to satisfy demand requirements varying over time. The input specifies a demand for each timeslot. Each resource is specified by a start-time, end-time, an associated cost and a capacity. A feasible solution is a multiset of resources such that at any point of time, the sum of the capacities offered by the resources is at least the demand requirement at that point of time. The goal is to minimize the total cost of the resources included in the solution. This problem arises naturally in many scenarios such as workforce management, sensor networks, cloud computing, energy management and distributed computing. We study this problem under the partial cover setting and the zero-one setting. In the former scenario, the input also includes a number k and the goal is to choose a minimum cost solution that satisfies the demand requirements of at least k timeslots. For this problem, we present a 16-approximation algorithm; we show that there exist "well-structured" near-optimal solutions and that such a solution can be found in polynomial time via dynamic programming. In the zero-one setting, a feasible solution is allowed to pick at most one copy of any resource. For this case, we present a 4-approximation algorithm; our algorithm uses a novel LP relaxation involving flow-cover inequalities. The Internet of Things (IoT) is part of the Internet of the future and will comprise billions of intelligent communicating “things” or Internet Connected Objects (ICOs) that will have sensing, actuating, and data processing capabilities. Each ICO will have one or more embedded sensors that will capture potentially enormous amounts of data. The sensors and related data streams can be clustered physically or virtually, which raises the challenge of searching and selecting the right sensors for a query in an efficient and effective way. This paper proposes a context-aware sensor search, selection, and ranking model, called CASSARAM, to address the challenge of efficiently selecting a subset of relevant sensors out of a large set of sensors with similar functionality and capabilities. CASSARAM considers user preferences and a broad range of sensor characteristics such as reliability, accuracy, location, battery life, and many more. This paper highlights the importance of sensor search, selection and ranking for the IoT, identifies important characteristics of both sensors and data capture processes, and discusses how semantic and quantitative reasoning can be combined together. This paper also addresses challenges such as efficient distributed sensor search and relational-expression based filtering. CASSARAM testing and performance evaluation results are presented and discussed. In order to monitor a region for traffic traversal, sensors can be deployed to perform collaborative target detection. Such a sensor network achieves a certain level of detection performance with an associated cost of deployment. This paper addresses this problem by proposing path exposure as a measure of the goodness of a deployment and presents an approach for sequential deployment in steps. It illustrates that the cost of deployment can be minimized to achieve the desired detection performance by appropriately choosing the number of sensors deployed in each step. In this paper, we study the problem of tracking an object moving randomly through a network of wireless sensors. Our objective is to devise strategies for scheduling the sensors to optimize the tradeoff between tracking performance and energy consumption. We cast the scheduling problem as a partially observable Markov decision process (POMDP), where the control actions correspond to the set of sensors to activate at each time step. Using a bottom-up approach, we consider different sensing, motion and cost models with increasing levels of difficulty. At the first level, the sensing regions of the different sensors do not overlap and the target is only observed within the sensing range of an active sensor. Then, we consider sensors with overlapping sensing range such that the tracking error, and hence the actions of the different sensors, are tightly coupled. Finally, we consider scenarios wherein the target locations and sensors' observations assume values on continuous spaces. Exact solutions are generally intractable even for the simplest models due to the dimensionality of the information and action spaces. Hence, we devise approximate solution techniques, and in some cases derive lower bounds on the optimal tradeoff curves. The generated scheduling policies, albeit suboptimal, often provide close-to-optimal energy-tracking tradeoffs. This paper addresses the coverage breach problem in wireless sensor networks with limited bandwidths. In wireless sensor networks, sensor nodes are powered by batteries. To make efficient use of battery energy is critical to sensor network lifetimes. When targets are redundantly covered by multiple sensors, especially in stochastically deployed sensor networks, it is possible to save battery energy by organizing sensors into mutually exclusive subsets and alternatively activating only one subset at any time. Active nodes are responsible for sensing, computing and communicating. While the coverage of each subset is an important metric for sensor organization, the size of each subset also plays an important role in sensor network performance because when active sensors periodically send data to base stations, contention for channel access must be considered. The number of available channels imposes a limit on the cardinality of each subset. Coverage breach happens when a subset of sensors cannot completely cover all the targets. To make efficient use of both energy and bandwidth with a minimum coverage breach is the goal of sensor network design. This paper presents the minimum breach problem using a mathematical model, studies the computational complexity of the problem, and provides two approximate heuristics. Effects of increasing the number of channels and increasing the number of sensors on sensor network coverage are studied through numerical simulations. Overall, the simulation results reveal that when the number of sensors increases, network lifetimes can be improved without loss of network coverage if there is no bandwidth constraint; with bandwidth constraints, network lifetimes may be improved further at the cost of coverage breach. The emerging wireless energy transfer technology enables charging sensor batteries in a wireless sensor network (WSN) and maintaining perpetual operation of the network. Recent breakthrough in this area has opened up a new dimension to the design of sensor network protocols. In the meanwhile, mobile data gathering has been considered as an efficient alternative to data relaying in WSNs. However, time variation of recharging rates in wireless rechargeable sensor networks imposes a great challenge in obtaining an optimal data gathering strategy. In this paper, we propose a framework of joint Wireless Energy Replenishment and anchor-point based Mobile Data Gathering (WerMDG) in WSNs by considering various sources of energy consumption and time-varying nature of energy replenishment. To that end, we first determine the anchor point selection and the sequence to visit the anchor points. We then formulate the WerMDG problem into a network utility maximization problem which is constrained by flow conversation, energy balance, link and battery capacity and the bounded sojourn time of the mobile collector. Furthermore, we present a distributed algorithm composed of cross-layer data control, scheduling and routing subalgorithms for each sensor node, and sojourn time allocation subalgorithm for the mobile collector at different anchor points. Finally, we give extensive numerical results to verify the convergence of the proposed algorithm and the impact of utility weight on network performance. Sensor nodes may be equipped with a "directional" sensing device (such as a camera) which senses a physical phenomenon in a certain direction depending on the chosen orientation. In this article, we address the problem of selection and orientation of such directional sensors with the objective of maximizing coverage area. Prior works on sensor coverage have largely focused on coverage with sensors that are associated with a unique sensing region. In contrast, directional sensors have multiple sensing regions associated with them, and the orientation of the sensor determines the actual sensing region. Thus, the coverage problems in the context of directional sensors entails selection as well as orientation of sensors needed to activate in order to maximize ensure coverage. In this article, we address the problem of selecting a minimum number of sensors and assigning orientations such that the given area (or set of target points) is k-covered (i.e., each point is covered k times). The above problem is NP-complete, and even NP-hard to approximate. Thus, we design a simple greedy algorithm that delivers a solution that k-covers at least half of the target points using at most M log(k|C|) sensors, where |C| is the maximum number of target points covered by a sensor and M is the minimum number of sensor required to k-cover all the given points. The above result holds for almost arbitrary sensing regions. We design a distributed implementation of the above algorithm, and study its performance through simulations. In addition to the above problem, we also look at other related coverage problems in the context of directional sensors, and design similar approximation algorithms for them. In this article, we design techniques that exploit data correlations in sensor data to minimize communication costs (and hence, energy costs) incurred during data gathering in a sensor network. Our proposed approach is to select a small subset of sensor nodes that may be sufficient to reconstruct data for the entire sensor network. Then, during data gathering only the selected sensors need to be involved in communication. The selected set of sensors must also be connected, since they need to relay data to the data-gathering node. We define the problem of selecting such a set of sensors as the connected correlation-dominating set problem, and formulate it in terms of an appropriately defined correlation structure that captures general data correlations in a sensor network. We develop a set of energy-efficient distributed algorithms and competitive centralized heuristics to select a connected correlation-dominating set of small size. The designed distributed algorithms can be implemented in an asynchronous communication model, and can tolerate message losses. We also design an exponential (but nonexhaustive) centralized approximation algorithm that returns a solution within O(log n) of the optimal size. Based on the approximation algorithm, we design a class of centralized heuristics that are empirically shown to return near-optimal solutions. Simulation results over randomly generated sensor networks with both artificially and naturally generated data sets demonstrate the efficiency of the designed algorithms and the viability of our technique—even in dynamic conditions. While sensor networks are going to be deployed in diverse application specific contexts, one unifying view is to treat them essentially as distributed databases. The simplest mechanism to obtain information from this kind of a database is to flood queries for named data within the network and obtain the relevant responses from sources. However, if the queries are (a) complex, (b) one-shot, and (c) for replicated data, this simple approach can be highly inefficient. In the context of energy-starved sensor networks, alternative strategies need to be examined for such queries. We propose a novel and efficient mechanism for obtaining information in sensor networks which we refer to as ACtive QUery forwarding In sensoR nEtworks (ACQUIRE). The basic principle behind ACQUIRE is to consider the query as an active entity that is forwarded through the network (either randomly or in some directed manner) in search of the solution. ACQUIRE also incorporates a look-ahead parameter d in the following manner: intermediate nodes that handle the active query use information from all nodes within d hops in order to partially resolve the query. When the active query is fully resolved, a completed response is sent directly back to the querying node. We take a mathematical modelling approach in this paper to calculate the energy costs associated with ACQUIRE. The models permit us to characterize analytically the impact of critical parameters, and compare the performance of ACQUIRE with respect to other schemes such as flooding-based querying (FBQ) and expanding ring search (ERS), in terms of energy usage, response latency and storage requirements. We show that with optimal parameter settings, depending on the update frequency, ACQUIRE obtains order of magnitude reduction over FBQ and potentially over 60–75 reduction over ERS (in highly dynamic environments and high query rates) in consumed energy. We show that these energy savings are provided in trade for increased response latency. The mathematical analysis is validated through extensive simulations. � 2003 Elsevier B.V. All rights reserved. The application of wireless charging technology in traditional battery-powered wireless sensor networks (WSNs) grows rapidly recently. Although previous studies indicate that the technology can deliver energy reliably, it still faces regulatory mandate to provide high power density without incurring health risks. In particular, in clustered WSNs there exists a mismatch between the high energy demands from cluster heads and the relatively low energy supplies from wireless chargers. Fortunately, solar energy harvesting can provide high power density without health risks. However, its reliability is subject to weather dynamics. In this paper, we propose a hybrid framework that combines the two technologies - cluster heads are equipped with solar panels to scavenge solar energy and the rest of nodes are powered by wireless charging. We divide the network into three hierarchical levels. On the first level, we study a discrete placement problem of how to deploy solar-powered cluster heads that can minimize overall cost and propose a distributed @math -approximation algorithm for the placement. Then, we extend the discrete problem into continuous space and develop an iterative algorithm based on the Weiszfeld algorithm. On the second level, we establish an energy balance in the network and explore how to maintain such balance for wireless-powered nodes when sunlight is unavailable. We also propose a distributed cluster head re-selection algorithm. On the third level, we first consider the tour planning problem by combining wireless charging with mobile data gathering in a joint tour. We then propose a polynomial-time scheduling algorithm to find appropriate hitting points on sensors’ transmission boundaries for data gathering. For wireless charging, we give the mobile chargers more flexibility by allowing partial recharge when energy demands are high. The problem turns out to be a Linear Program. By exploiting its particular structure, we propose an efficient algorithm that can achieve near-optimal solutions. Our extensive simulation results demonstrate that the hybrid framework can reduce battery depletion by 20 percent and save vehicles’ moving cost by 25 percent compared to previous works. By allowing partial recharge, battery depletion can be further reduced at a slightly increased cost. The results also suggest that we can reduce the number of high-cost mobile chargers by deploying more low-cost solar-powered sensors. We discuss the design of an acquisitional query processor for data collection in sensor networks. Acquisitional issues are those that pertain to where, when, and how often data is physically acquired (sampled) and delivered to query processing operators. By focusing on the locations and costs of acquiring data, we are able to significantly reduce power consumption over traditional passive systems that assume the a priori existence of data. We discuss simple extensions to SQL for controlling data acquisition, and show how acquisitional issues influence query optimization, dissemination, and execution. We evaluate these issues in the context of TinyDB, a distributed query processor for smart sensor devices, and show how acquisitional techniques can provide significant reductions in power consumption on our sensor devices. Wireless sensor networks (WSNs) are prone to propagating malware because of special characteristics of sensor nodes. Considering the fact that sensor nodes periodically enter sleep mode to save energy, we develop traditional epidemic theory and construct a malware propagation model consisting of seven states. We formulate differential equations to represent the dynamics between states. We view the decision-making problem between system and malware as an optimal control problem; therefore, we formulate a malware-defense differential game in which the system can dynamically choose its strategies to minimize the overall cost whereas the malware intelligently varies its strategies over time to maximize this cost. We prove the existence of the saddle-point in the game. Further, we attain optimal dynamic strategies for the system and malware, which are bang–bang controls that can be conveniently operated and are suitable for sensor nodes. Experiments identify factors that influence the propagation of malware. We also determine that optimal dynamic strategies can reduce the overall cost to a certain extent and can suppress the malware propagation. These results support a theoretical foundation to limit malware in WSNs.