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Reliable Routing With Optimized Power Routing For Wireless Adhoc Ne...
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From Amjad Rifai
Energy Conserving Routing in Wireless Ad-hoc Networks
Jae-Hwan Chang and Leandros TassiulasDepartment of Electrical and Computer Engineering & Institute for Systems ResearchUniversity of Maryland at College Park College Park, MD 20742
f
jhchang,leandros
g
@isr.umd.edu
Abstract
—An ad-hoc network of wireless static nodes is considered asit arises in a rapidly deployed, sensor based, monitoring system. Informa-tion is generated in certain nodes and needs to reach a set of designatedgateway nodes. Each node may adjust its power within a certain rangethat determines the set of possible one hop away neighbors. Traffic for-warding through multiple hops is employed when the intended destinationis not within immediate reach. The nodes have limited initial amounts of energy that is consumed in different rates depending on the power leveland the intended receiver. We propose algorithms to select the routes andthe corresponding power levels such that the time until the batteries of thenodes drain-out is maximized. The algorithms are local and amenable todistributed implementation. When there is a single power level, the prob-lem is reduced to a maximum flow problem with node capacities and the al-gorithms converge to the optimal solution. When there are multiple powerlevels then the achievable lifetime is close to the optimal (that is computedby linear programming) most of the time. It turns out that in order tomaximize the lifetime, the traffic should be routed such that the energyconsumption is balanced among the nodes in proportion to their energy re-serves, instead of routing to minimize the absolute consumed power.
Keywords
— energy-sensitive routing, wireless ad-hoc networks, sensornetworks
I. I
NTRODUCTION
C
ONSIDER a group of wireless static nodes randomly dis-tributed in a region as in Fig.1, where each node has a lim-ited battery energy supply used mainly for the transmission of data. Assume that at each node some type of information isgenerated as it monitors the data such as sound or vibration inits vicinity using the sensor, and the information needs to bedelivered to a set of gateway nodes. These wireless nodes areassumed to have the capability of packet forwarding, i.e., relay-ing an incoming packet to one of its neighboring nodes, and thetransmitted energy level can be adjusted to a level appropriatefor the receiver to be able to receive the data correctly if the re-ceiver is within the transmission range. Upon or before a newarrival of information either generated at the node itself or for-warded fromthe othernodes, routingdecisionhas to be madesothat the node knows which of its neighboring nodes to forwardits data to. Note that the routing decision and the transmissionenergy level selection are intrinsically connected in this power-controlledad-hocnetworksince the powerlevelwill be adjusteddepending on the location of the next hop node.An example scenario for this type of wireless ad-hoc network may include a wireless sensor network where the sensors gather
Prepared through collaborative participation in the Advanced Telecommuni-cations/Information Distribution Research Program (ATIRP) Consortium spon-sored by the U.S. Army Research Laboratory under the Federated LaboratoryProgram, Cooperative Agreement DAAL01-96-2-0002.
gatewaysmonitoring nodes
Fig. 1. A multi-hop wireless ad-hoc network is depicted where the nodes arerandomly distributed and the information generated at the monitoring nodesare to be delivered to the gateway nodes.
acoustic, magnetic, or seismic information and send the infor-mation to its gateway node which has more processing powerfor further processing of the information or has larger transmis-sion rangeforthe deliveryof theinformationto a possiblylargernetwork for retrieval by a remote user.Most of the previousworks on routing in wireless ad-hoc net-works deal with the problem of finding and maintaining correctroutes to the destination during mobility and changing topology[1], [6], [11]. In [1], [6], the authors presented a simply imple-mentable algorithm which guarantees strong connectivity andassumes limited node range. Shortest path algorithm is used inthis strongly connected backbone network. However, the routemay not be the minimum energy solution due to possible omis-sion of the optimal links at the time of the backbone connectionnetwork calculation. In [11], the authors developed a dynamicrouting algorithm for establishing and maintaining connection-oriented sessions which uses the idea of predictive re-routingto cope with the unpredictable topology changes. Some otherrouting algorithms in mobile wireless networks can be found in[15], [12], [9], [14], which, as the majority of routing protocolsin mobile ad-hoc networks do, use shortest-path routing wherethe number of hops is the path length.The problem of minimum energy routing has been addressedbefore in [1], [6], [16], [10], [8], [18], [17], and [7]. The ap-proach in those works was to minimize the total consumed en-
ergy to reach the destination, which minimizes the energy con-sumed per unit flow or packet. If all the traffic is routed thoughthrough the minimum energy path to the destination the nodesin that path will be drain-out of batteries quickly while othernodes, which perhaps will be more power hungry if traffic isforwarded through them, will remain intact. Instead of tryingto minimize the consumed energy, the performance objective of maximizing the lifetime of the system[3], which is equivalent tomaximizing the time to network partition[18] has been consid-ered. In [18], the problem of maximizing the time to network partition was reported as NP-complete. In [3] we identified themaximum lifetime problem as a linear programming problem.Therefore, it is solvable in polynomial time. The work in [3]considered the single destination version of the problem, whilehere we extend the problem to the multicommodity case, whereeach commodity has a its own set of destinations.In ourstudy the topologyof the networkis static and the rout-ing accounts to finding the traffic splits that balance optimallythe energy consumption. Hence the results are applicable tonetworks which are either static, like the sensor networks wementioned earlier, or whose topology changes slowly enoughsuch that there is enoughtime foroptimally balancing the trafficin the periods between successive topology changes.This paper is organized as follows: In section II, the problemis formulated. In section III, we propose a class of flow aug-mentation algorithms that use the shortest cost path. In sectionIV, we extend the flow redirection algorithm to cover the multi-commodity case. In section V, random graphs are generated inorder to evaluate the performances of these algorithms. Finallyin section VI, some concluding remarks are made.II. R
OUTING FOR THE
M
AXIMUM
S
YSTEM
L
IFETIME
The wireless ad-hoc network in considerationis modeled as adirected graph
G
(
N;A
)
where
N
is the set of all nodes and
A
is the set of all directed links
(
i;j
)
where
i;j
2
N
. Let
S
i
bethe set of all nodes that can be reached by node
i
with a certainpower level in its dynamic range. We assume that link
(
i;j
)
exists if and only if
j
2
S
i
. Let each node
i
have the initialbattery energy
E
i
, and let
Q
(
c
)
i
be the rate at which informationis generated at node
i
belonging to commodity
c
2
C
, where
C
is the set of all commodities. Assume that the transmissionenergy required for node
i
to transmit an information unit to itsneighboring node
j
is
e
ij
, and the rate at which information of commodity
c
is transmitted from node
i
to node
j
is called theflow
q
(
c
)
ij
. Further, let
Q
i
and
q
ij
be the aggregate flows of allcommodities, i.e.,
Q
i
=
X
c
2
C
Q
(
c
)
i
;
(1)and
q
ij
=
X
c
2
C
q
(
c
)
ij
:
(2)We are given, for each commodity
c
, a set of origin nodes
O
(
c
)
where the information is generated, i.e.,
O
(
c
)
=
f
i
j
Q
(
c
)
i
>
0
;i
2
N
g
;
(3)and a set of destination nodes
D
(
c
)
among which any node canbe reached in order for the information transfer of commodity
c
be considered done.The lifetime of node
i
under a given flow
q
=
f
q
ij
g
is givenby
T
i
(
q
)=
E
i
P
j
2
S
i
e
ij
P
c
2
C
q
(
c
)
ij
:
(4)Now, let us define the
system lifetime
under flow
q
as the lengthof time until the first battery drain-out among all nodes in
N
,which is the same as the minimum lifetime over all nodes, i.e.,
T
sys
(
q
)=min
i
2
N
T
i
(
q
) =min
i
2
N E
i
P
j
2
S i
e
ij
P
c
2
C
q
(
c
)
ij
:
(5)Our goal is to find the flow that maximizes the system life-time underthe flow conservationcondition. The problemcan bewritten as follows:Maximize
T
sys
(
q
)=min
i
2
N E
i
P
j
2
S i
e
ij
P
c
2
C
q
(
c
)
ij
s.t.
q
(
c
)
ij
0
;
8
i
2
N;
8
j
2
S
i
;
8
c
2
C;
P
j
:
i
2
S
j
q
(
c
)
ji
+
Q
(
c
)
i
=
P
k
2
S
i
q
(
c
)
ik
;
8
i
2
N
?
D
(
c
)
;
8
c
2
C:
(6)Fig.2 illustrates the flow conservationcondition for commod-ity
c
at node
i
, and it should be noted that the condition appliesto each commodity separately.In the following we show that the problem is a linear pro-grammingproblem[13]. The problemof maximizingthe systemlifetime, giventhe informationgenerationrates
Q
(
c
)
i
at the set of origin nodes
O
(
c
)
and the set of destination nodes
D
(
c
)
for eachcommodity
c
, is equivalent to the following linear programmingproblem:Maximize
T
(7)s.t.
^
q
(
c
)
ij
0
;
8
i
2
N;
8
j
2
S
i
;
8
c
2
C;
(8)
P
j
2
S
i
e
ij
P
c
2
C
^
q
(
c
)
ij
E
i
;
8
i
2
N;
(9)
P
j
:
i
2
S
j
^
q
(
c
)
ji
+
TQ
(
c
)
i
=
P
k
2
S
i
^
q
(
c
)
ik
;
8
i
2
N
?
D
(
c
)
;
8
c
2
C;
(10)where
^
q
(
c
)
ij
=
Tq
(
c
)
ij
is the amount of information of commodity
c
transmitted from node
i
to node
j
until time
T
.
ji kiik
qSQ
i(c) (c)(c) ji
q
Fig. 2. The conservation of flow condition at node
i
for each commodity
c
requires that the sum of information generation rate and the total incomingflow must equal the total outgoing flow.
The linear program given above can be viewed as a variationof the conventional maximum flow problem with node capaci-ties[5]. If the transmitted power level at each node is fixed re-gardless of its next hop node, i.e., if there is no power control,
e
ij
=
e
i
;
8
j
2
S
i
;
(11)and the problem is equivalent to the maximum flow problemwith node capacities given by
X
j
2
S
i
X
c
2
C
^
q
(
c
)
ij
E
i
=e
i
;
8
i
2
N:
(12)When the capacity of a a node is a fixed quantity as in (12)then the problem can be converted to a link capacity version byreplacing the node with two nodes and a link having the samecapacity[4], and the max-flow-min-cut theorem[5] can be used.However, in our problem, unlike the above, the amount of re-source (or energy in this case) which a unit flow consumes de-pends on the energy expenditure to the next hop node. There-fore, it is not trivial to find the min-cut nodes, and even if theywere found the traffic split at the nodes must also be identified.III. F
LOW
A
UGMENTATION
A
LGORITHMS
In this section, we propose a class of flow augmentation (FA)algorithms which use the shortest cost path.The general description of the algorithm is given in the fol-lowing. At each iteration, each origin node
o
2
O
(
c
)
of com-modity
c
calculatesthe shortest cost path to its destinationnodesin
D
(
c
)
. Then the flow is augmented by an amount of
Q
(
c
)
i
onthe shortest cost path, where
is the augmentation step size.After the flow augmentation,the shortest cost paths are recalcu-lated and the proceduresare repeated until any node
i
2
N
runsout of its initial total energy
E
i
. As a result of the algorithm, weobtain the flow which will be used at each node to properly splitincoming traffic.Our objective is to find the best link cost function which willlead to the maximization of the system lifetime. There are threeparameters to consider in calculating the link cost
c
ij
for link
(
i;j
)
. One is the energy expenditure for unit flow transmis-sion over the link,
e
ij
, the second is the initial energy
E
i
, andthe third is the residual energy at the transmitting node
i
whichis denoted by
E
i
. A good candidate for the flow augmentingpath should consume less energy and should avoid nodes withsmall residual energysince we wouldlike to maximizethe mini-mumlifetime ofall nodes. In[18], eachof these wereseparatelyconsidered, which falls short of optimizing the system lifetime.Obviously, both of these can’t be optimized at the same time,which means there is a tradeoff between the two. In the begin-ning when all the nodes have plenty of energy, the minimumtotal consumed energy path is better off, whereas towards theend avoiding the small residual energy node becomes more im-portant. Therefore, the link cost function should be such thatwhen the nodes have plenty of residual energy, the energy ex-penditure term is emphasized, while if the residual energy of anode becomes small the residual energy term should be moreemphasized.With the above in mind, the link cost
c
ij
is proposed to be
c
ij
=
e
x
1
ij
E
?
x
2
i
E
x
3
i
;
(13)where
x
1
,
x
2
, and
x
3
are nonnegativeweighting factors foreachitem. Note that if
f
x
1
;x
2
;x
3
g
=
f
0
;
0
;
0
g
then the shortestcost path is the minimum hop path, and if it is
f
1
;
0
;
0
g
thenthe shortest cost path is the minimum transmitted energy path.If
x
2
=
x
3
then normalized residual energy is used, while if
x
3
=0
then the absolute residual energy is used. Let’s referto the algorithm as FA
(
x
1
;x
2
;x
3
)
in the rest of the paper indi-cating the parameters, and the meanings of the parameters aresummarized in Table I for reference.The path cost is computed by the summation of the link costs on the path, and the algorithm can be implemented withany existing shortest path algorithms including the distributedBellman-Ford algorithm[2], which will be used in our simula-tion.IV. F
LOW
R
EDIRECTION
A
LGORITHM
In this section, we extend the flow redirection (FR) algo-rithm[3] to the multicommodity case.This algorithm is based on the following observation. If wehave a single origin and a single destination or if we have mul-tiple origins and destinations but without any constraints on theinformation generation rates, then under the optimal flow, theminimum lifetime of every path from the origin to the destina-tion with positive flow is the same. Note that the latter case canbe converted to a single origin and a single destination versionby adding a super origin and a super destination connected tothe origins and the destinations respectively with zero energyexpenditure links.The above fact can be shown as follows. Assume that theflow is optimal, i.e., minimum lifetime over all nodes is maxi-mized. If we further assume that the minimum lifetimes of thepaths with positive flow to the destination are not all identicalthen there is a set of path(s) with positive flow whose minimumlifetime is the shortest. We can always increase the minimum
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