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Scheduling in IEEE 802.15.4e Time Slotted Channel Hopping: A Survey

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 Scheduling in IEEE 802.15.4e Time Slotted
Channel Hopping: A Survey
Sarra Hammoudi∗ , Abdelhak Bentaleb§ , Saad Harous¶ , and Zibouda Aliouat‡
∗ University of Mohamed El Bachir El Ibrahimi, § National University of Singapore,
¶ United Arab Emirates University, ‡ Ferhat Abbas Setif 1 University
sarra.hammoudi@univ-bba.dz, bentaleb@comp.nus.edu.sg, harous@uaeu.ac.ae, zaliouat@univ-setif.dz
Abstract—Time Slotted Channel Hopping (TSCH, termed also
Time Synchronized Channel Hopping) is one of the medium
access control modes that is defined in IEEE 802.15.4e standard.
TSCH plays a vital role in the development of the Internet
of Things (IoT) applications such as smart city, smart home,
and smart factory. For reliable communications, it leverages
time slotted channel together with time slotted access capabil-
ities. Moreover, it serves deterministic low-power mesh network
deployed for critical applications with high reliability and low
latency. However, it suffers from problems that may seriously
deteriorate the system performance. As an attempt to identify the
scheduling technique problems, in this paper, we first presents
an overview on existing scheduling techniques, rules, and their
challenges in TSCH-enabled IoT applications, and second, we
study some recent emerging scheduling-based proposals that
benefit from intelligent and machine learning techniques to avoid
such scheduling problems. Therefore, increase the efficiency of
the IoT applications. This survey inspires researchers to create
a reliable TECH communications for critical IoT applications.
Index Terms—IEEE 802.15.4e, TSCH, Internet of Things,
Wireless Sensor Networks, Scheduling
I. I NTRODUCTION
The Internet of Things (IoT) is enabled by the proliferation
of smart sensors and actuators, radio frequency identification,
cloud computing, and the emergence of new appropriate
protocols and technologies that allow the communication every
time and everywhere [1]. The IoT provides smart and seamless
services to the end user without human intervention nor any
interruption [2]. The authors in [1] define the IoT as follows:
”The Internet of Things is a set of heterogeneous connected
devices that collaborate with the Internet of services via the
communication protocols. The communication protocols are
importantly dedicated to the IoT devices’ constraints. Mainly,
this collaboration aims to offer services needed by the end
user. The IoT’s services are largely deployed and have the full
potential to cover diverse domains.”.
The IEEE 802.15.4e standard [3] is developed to overcome
the limitations of IEEE 802.15 such as unbounded delay and
absence of channel diversity, which might be detrimental for
the user experience in various applications such as video
streaming [4]–[6]. The IEEE 802.15.4e presents time slotted
(or synchronized) channel hopping (TSCH) mode dedicated
for wireless sensor devices [7] with tiny resources (e.g.,
computation resources, low power, etc.). This mode is the most
practical media access control (MAC) sub-layer protocol as it
is well-designed to be implemented in IoT’s critical appli-
978-1-7281-9656-5/20/$31.00 ©2020 IEEE
Authorized licensed use limited to: National University of Singapore. Downloaded on May 25,2021 at 07:59:16 UTC from IEEE Xplore. Restrictions apply.
cations, such as process automation, equipment and process
monitoring, oil and gas industry, food and beverage products,
chemical products, pharmaceutical products, and water waste
treatments [1] [3] [8].
TSCH applies multi-channel communication by exploiting
16 non-overlapping channels in the 2.4 GHz band [9]. It
achieves reliable communications thanks to channel hopping
technique. Channel hopping is a very efficient technique that
is used to rapidly switch transmitting radio signals among
several frequency channels, and thus, reduces multi-path fad-
ing and interference issues [7]. TSCH has been adopted
by two essential standard technologies in wireless networks:
ISA100.11a [10] and Wireless-HART [11], to service in-
dustrial applications with high throughput and efficiency.
6TiSCH [12] is another interesting standard protocol by In-
ternet engineering task force (IETF) to serve IoT communica-
tions. It represents the key enabler of the further integration of
IPv6 in industrial standards and the convergence of operational
technology with information technology. To achieve this, it
combines the IEEE 802.15.4e TSCH capabilities with IPv6
for low-power and lossy networks (RPL) routing protocol.
Therefore, it enables low-power wireless technology for the
Industrial Internet of Things (IIoT) [12] [13]. TSCH has many
deployment topologies such as star topology, tree topology,
partial or mesh topology [3].
Despite the growth potential of TSCH mode, the TSCH
scheduling faces many problems. The latter are mainly related
to the shared link nature of TSCH scheduling, full collision
that occurs at the network boostrap, conflict links problem
etc. This survey attempts to identify these problems and help
readers (or implementer) in solving them, and thus, creating
a reliable TSCH communications. We also reviews some of
the emerging scheduling solutions that use intelligent machine
learning techniques for better and reliable network.
We note that in state-of-the-art there are only few published
surveys that try to address scheduling issues for IoT in general
and only fewer for TSCH. This survey differs from the other
surveys in highlighting the artificial intelligence solutions in
creating a reliable TSCH scheduling. It also highlights the
main TSCH scheduling requirements, so the researchers avoid
beforehand the common problems while designing the TSCH
scheduling.
The remainder of the paper is organized as follows. Sec-
tion 1 describes the TSCH mode. Section 2 outlines the
0331

Time Slots
0 1 2 3
n3 → n 1 n7 → n 5
Channels Offsets
0
n8 → n 6 n8 → n 6
1 n5 → n 2 n5 → n 2
2 n2 → n 0 n4 → n 1 n2 → n 0
Fig. 1. Scheduling process in IEEE 802.15.4e TSCH [16].
main problems of TSCH scheduling. Section 3 discusses
the essential rules to construct an efficient TSCH scheduling
for critical applications. The recent related work based on
intelligent and machine learning techniques, that contribute to
create a reliable MAC layer on TSCH while solving some of
the scheduling problem, are detailed in Section 4. Section 5
concludes the work.
II. IEEE 802.15.4 E TSCH M ODE
TSCH benefits from the capabilities of time slotted ac-
cess, multiple channels, and channel hopping to increase the
network throughput and reduce the packets’ latency. TSCH
scheduling consists of a matrix of cells (or links), each link is
defined by a channel offset and a time slot. A link can be either
dedicated or shared. Fig.1 shows an example of TSCH network
with a tree topology (right) with a possible link schedule in
a scheduling table (left). As depicted in Fig. 1, a dedicated
link (e.g., link [0,4]) allows only one communication to be
arranged, while a shared link (e.g., link [1,3]) allows more
than one transmission to be scheduled [3] [14] [15].
A. TSCH Slot Frame
A slot frame [3] consists of a set of time slots that is
repeated continuously in each cycle of time. The TSCH uses
the slot frame to ensure synchronized network connection.
Each slot is assigned to the network nodes in dedicated or
shared manner [14] [17]. Fig. 2 shows an example of a slot
frame in TSCH. During the network creation, TSCH defines
a time slot, so-called absolute slot number (ASN), which is
initialized to zero, and then it increments by one at each
time slot as follows: ASN = (k × S + t). k is the slot
frame cycle, S is the slot frame size, and t is the slot offset.
For each time slot t, the set of available channels will be
assigned pseudo-randomly and the scheduling table tells which
neighbor node to communicate with and on which channel
offset. A time slot is an enough period of time (is typically 10
ms long) [17] [18] for transmitting a MAC frame, receiving
an acknowledgement packet following a successful packet
reception, packet processing, radio turnaround, and security
procedure [15] [17].
B. TSCH Channel Hopping
By default, scheduling in TSCH specifies the frequency and
time slots for each link of a node. For each time slot, a node
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n0
PAN Slot Frame Size Slot Frame Size
Coordinator
Time Slot 3
Time Slot 3
Time Slot 0
Time Slot 1
Time Slot 2
Time Slot 0
Time Slot 1
Time Slot 2
4
n1 n2
n3 n4 n5 n6
ASN: 0 1 2 3 4 5 6 7
n7 n8
Fig. 2. TSCH slot frame [16].
can change its frequency (denoted by F req) randomly from
existing frequency band in TSCH following this formula [3]:
 
F req = F (ASN + ChannelOffset) mod NChannels , (1)
Where ChannelOffset, ASN, NChannels , and F are the
identification of a channel, the absolute slot number, the
total number of allowable channels, and the lookup function,
respectively. We note that NChannels can be less than 16 when
some channels are subjected to external interference.
Table I explains the main equations of TSCH in the schedul-
ing process.
C. TSCH Network Formation
TSCH uses logical link control (LLC) approach to control
how the network is formed, i.e., how a new node joins the
network, how existing nodes advertise their presence in the
network, etc. LLC requires enhanced beacon (EB) frames
which are transmitted periodically by all nodes for the network
advertisement. EB frames contain the necessary information
for the network advertisement like channel hopping, time slot,
synchronisation, and slot frame information. New nodes that
are joining the network listen first for any EB transmission
by nearby nodes. Once these nodes receive the EB frame,
they synchronize to the slot frame of the network, and hence,
completing their joining procedure. The EB frame informs
the new nodes about the shared cell position for network
bootstrapping. The shared cell allows all broadcast traffic and
bootstrapping (i.e, joining) unicast traffic to be transmitted
following a slotted aloha mechanism [3] [13] [15] [16].
The Broadcast traffic refers to EB frames and routing proto-
col overhead. The 6TiSCH defines RPL as a routing protocol,
that is determined for multi-hop transmission. For constructing
an upward routing, the RPL uses DODAG information object
(DIO) packets for creating a directed acyclic graph. Once
nodes joint the network, they start transmitting EBs and DIOs
in the slotted aloha shared cell [13].
D. TSCH Scheduling Main Constraints
Links in IEEE 802.15.4e networks are half duplex [3]. This
means a node cannot transmit and receive during the same time
slot, and receive from multiple nodes during the same time slot
even if the transmission is on different frequency bands [19].
This problem introduces conflict links problem such as links
[1,0] and [2,0] depicted in Fig. 1.
0332
 TABLE I
TSCH MAIN EQUATIONS
Equations
ASN = (k × S + t)
 
F req = F (ASN + ChannelOffset) mod NChannels
n7 n5 n6 n8
Fig. 3. Hidden nodes problem in IEEE 802.15.4e TSCH
. •
In TSCH, shared links allow more than one communication
to share the same link. The hidden node problem occurs when
two pairs of sender-receiver nodes are scheduled in the same
link and the receiving nodes belong to the same (or with some
overlap in their ranges) range of each other while the sending
nodes are out of the range of each other. Sending packets at the
same time slot and on the same frequency alters the received
signal quality as described in previous studies [18] [19]. Fig. 3
illustrates the hidden node problem described above.
As mentioned in Section II-C, EB frames are essential for
network advertisement. The scheduling of EB transmissions
influences on the joining time of new nodes, and the power
consumption of both advertising nodes and new joining nodes.
Because the shared link (designed for transmitting EBs) allows
all neighboring nodes to transmit EBs at the same time,
collisions most probably occur. Another interesting problem
arises during the network advertisement phase, when more
nodes join the network, the EBs and DIOs packets start
crowding the slotted aloha cell, which prevents new nodes
to join the network [13].
E. TSCH Scheduling Requirements
To ensure a reliable scheduling in TSCH mode, the proposed
scheduling techniques [1] should take into consideration the
following rules:
• Exploitation of multi-channel and channel-hopping capa-
bilities for better channels allocation [20].
• Allocation of network bandwidth resources to nodes
should be according to the requirement of data traf-
fic [20].
• Adjustment of the number of time slots per-slot frame
in which the slot frame size will not influence negatively
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Explanation
K: Slot frame cycle
S: Slot frame size
t: Slot offset
ASN: Absolute Slot number
F : Lookup function
ChannelOffset: Channel offset
NChannels : Total number of allowable channels
the network’s throughput and the end-to-end packet delay
(network latency) [18] [21].
• A node should not receive and transmit at the same time
slot; a scheduled TSCH should be free from conflicting
links [19].
• The hidden nodes problem should be stamped out by
exploiting different channels during the same time slot or
use different time slots on the same frequency band [19].
The critical packets should be delivered to their desti-
nation (hop-to-hop or end-to-end) within the appropriate
deadline (the countermeasures should be applied before
the deadline) [15] [19].
• The maximization of parallel transmissions during each
time slot as much as we can [19].
• The EBs transmission cells should be scheduled such
that these cells should minimize the joining time of new
nodes and without creating collisions [22]. The proposed
solution that should be taken into consideration is fixing
the number of EB transmission cells in the scheduling
according to the number of the advertising nodes in
which:
1) The collisions created by EB packet are minimized
as much as possible, and the joining time of new
nodes is reduced [22].
2) The number of EB cells will not influence on the
network communication cells [22].
III. R EVIEW OF E MERGING S CHEDULING T ECHNIQUES IN
IEEE 802.15.4 E TSCH
Ke Shi et al. [19] introduced a centralized MAC sub-
layer scheduling scheme for TSCH networks with a mesh
topology. The proposed scheme focuses on scheduling mul-
tiple concurrent periodic flows in real-time. To provide more
chances to transmit high-priority flows during each time slot,
a maximum matching algorithm is utilized to find conflict-
free links. As for the frequency allocation, a graph coloring
is implemented to make final selected links interference free.
The proposed solution is implemented and compared to other
existing algorithms. Simulation results show enhancements in
terms of the deadline satisfaction ratio with a similar radio
duty cycle.
Mei Meng et al. [20] proposed a matching scheduling
algorithm (MSA) that selects a set of non-conflicting nodes
0333
according to a matching rule. The MSA comprises of a set
of cycles . During the first cycle, the non-conflicting nodes
are marked by a deep color and the appropriate links of
the selected nodes are arranged in the first time slot. Once
the first cycle terminates, the colored nodes are removed
from the tree and the scheduling table is updated by adding
the first time slot information. During the second cycle, the
update of the scheduling table is built based on the same
coloring mechanism executed on the updated tree. Therefore,
in each new cycle a new time slot is exploited. The same
authors improved the initial algorithm MSA by suggesting an
optimized scheduling algorithm (OSA). The main idea of OSA
is that at each new cycle, it first colors the non-conflicting leaf
nodes to minimize the latency time of transmitting data. When
the number of cycles increases, the number of time slots in
the slot frame increases as well, which increases the packet
latency.
The authors in [13] focused on the bootstrapping protocol
that authorizes a new node to join the network. They adopt a
Bayesian Broadcast Algorithm proposed in [23] to adjust the
probability of transmission of EB, DIO, and bootstrap frames
in order to reduce the contention and stabilize slotted Aloha.
Advertisement time slot partitioning (ATP) is proposed
in [22] to increase the EB transmissions without increasing
advertisement cells and decreasing the network bandwidth
resources for network’s communication. The key purpose of
ATP technique is to reduce the EB packet’s size, and also,
the considerable amount of unexploited time (e.g., frame
acknowledgement) by omitting the advertisement slot. Since
the EB size is reduced, the packet transmission time (denoted
by macTsMaxTx) in the advertisement cells is replaced by the
maximum transmission time of an EB (denoted by macEBTx).
ATP scheme increases the EB transmissions as it divides each
time slot into sub-slots; a sub-slot is a compressed time slot
version that allows the transmission of only one EB.
A full collision phenomenon can be generated from EB
transmitted by neighbors of a node. This type of collisions
between EBs can seriously affect the energy consumption of
nodes and network’s performance. The proposed EB schedul-
ing methods in the literature are based on randomness, the
authors in [9] have shown that creating the EB transmission
schedule based on randomness may lead to a probability
(denoted by P) of full collisions (i.e., P(full collision in a
single cell) + P(full collision in multiple cells)). To solve this
problem, the authors proposed a collision-free advertisement
scheduling (CFAS). Each advertiser autonomously performs
EB scheduling without negotiating with its neighbors. On
one hand, CFAS completely eliminates collisions either when
nodes are fixed or mobile. On the other hand, when the
number of advertisers increases, this may lead to the increase
of advertisement cells in the slot frame. This last problem is
solved by integrating the ATP technique to the CFAS.
The authors in [24] improved the distributed scheduling
algorithms to create efficient TSCH schedules along RPL
routes. The proposed scheme limits the allocation of identical
cells to colliding nodes. The idea is based on local mutual
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exclusion (LME). Mutual exclusion is executed to prohibit
colliding nodes from sharing a common channel at the same
time. To achieve this goal, when sender-receiver nodes assign a
new communication link, a receiver node notifies its neighbors
about the reserved cells.
Kieu-Ha Phung et al. [29] presented reinforcement learn-
ing (RL) based scheduling solution to ensure traffic-adaptive
schedule for every node. The mechanism solves the prob-
lem of increasing traffic demand from the already existing
nodes or additional data traffic from the new joined nodes.
The proposed solution also achieves collision-free parallel
transmissions over different channels, and thus, provides high
throughput and high delivery ratio. It also meets the energy
efficiency requirements of nodes.
The authors in [25] proposed a Q-learning MAC protocol
(QL-MAC). QL-MAC adjusts the active period and the radio
sleeping period based on the prediction of data traffic and
neighboring nodes’ transmission state. It enables the self-
adjustment of the duty cycle of wireless sensors networks
(WSN) nodes.
A self-organising RL approach for scheduling the wake-up
cycles of nodes in a WSN is proposed in [26]. The learning
process authorizes nodes to compete for the radio channel
to desynchronize so that collisions and radio interference are
reduced. The wake-up schedules of forwarding nodes (that
construct the path to the final destination) need to communi-
cate for increasing the network throughput. In order to avoid
radio interference and packet losses, neighboring nodes are
desynchronised.
Orchestra is a node-based scheduling mechanism proposed
in [28]. The scheduling table is built based on a the random-
ization of a hash function. This technique is keen on assigning
a unique cell for reception or transmission when the size of
the slot frame is larger than the number of deployed nodes. It
defines three types of slot frame: broadcast-, BE-, and unicast-
slot frames. In Orchestra, channel offset zero is assigned for
EB slot frame, channel offset one is arranged for broadcast
slot frame, and channel offset two is exploited by unicast slot
frame.
Autonomous link-based cell scheduling algorithm (ALICE),
designed for RPL routing, is proposed in [27]. It uses multi-
ple channels simultaneously without additional overhead. It
exploits traffic direction operations, routing, and slot frame to
prevent downstream and upstream from altering each other.
ALICE scheme shows an enhancement in terms of end-to-end
latency, RPL parent changes, radio duty-cycle, and reliability
compared to the Orchestra.
Table II classifies and summarize the discussed scheduling
techniques according to methods applied for building EB and
performing scheduling process.
Table III summarizes the advantages and drawbacks of the
discussed techniques.
IV. C ONCLUSION AND F UTURE W ORK
TSCH exploits time slot channel operation capability with
time slotted medium access. The time slotted channel access
0334
 TABLE II
S CHEDULING TECHNIQUES IN TSCH. RL: REINFORCEMENT LEARNING ALGORITHMS , MA: MATCHING ALGORITHMS , CA: COLORING ALGORITHMS ,
BN: BAYESIAN NETWORKS , OIA: OTHER INTELLIGENT ALGORITHMS , C/D: C ENTRALIZED /D ECENTRALIZED MAC PROTOCOL , F: HIGHLY FLEXIBLE TO
TOPOLOGY CHANGES , SD: SENSED DATA TRAFFIC , EB: E NHANCED B EACON .

Proposals Techniques Topology C/D SD/EB scheduling

Ke Shi et al. [19] MA & CA mesh C SD
Meng, Mei, et al. [20] MA & CA mesh D SD
Vučinić, M., et al. [13] BN RPL D EB
Rivest, R. [23] BN - D EB
Karalis, A. [22] OIA - C EB
Apostolos Karalis et al. [9] OIA mobile topology D EB
Ali Fahs et al. [24] OIA RPL D EB
Savaglio, Claudio,. et al. [25] RL D F SD
Mihaylov, Mihail, et al. [26] RL Tree D SD
Kim, S., et al. [27] OIA Tree/RPL D SD
Simon Duquennoy et al. [28] OIA RPL D SD
Kieu-Ha Phung et al. [29] RL Tree D SD

TABLE III
A DVANTAGES AND DRAWBACKS OF SCHEDULING TECHNIQUES IN TSCH

Techniques Advantages AND drawbacks

Ke Shi et al. [19]
Meng Mei, et al. [20]
(MSA)
Meng Mei, et al. [20] (OSA)
Apostolos Karalis [22]
Apostolos Karalis et al. [9] (CFAS)
Ali Fahs et al. [24]
Mihaylov, Mihail, et al. [26]
Simon Duquennoy et al. [28]
(orchestra)
Kim, Seohyang, et al. [27]
Prioritizes critical flows
Ensures collision-free links
Suffers from increased time delay and number of
channels when the network size increases.
Reduces packets latency compared to MSA
Exploits bandwidth resources
Increases EB transmissions without influencing the data traffic
Ensures a collision-free advertisement scheduling
Provides collision free links
Reduces collisions and radio interference
Suffers from the hidden node problem
Does not exploit the bandwidth resources
Outperforms orchestra in terms of: reliability, end-to-end latency,
RPL parent changes and radio duty-cycle

Kieu-Ha Phung et al. [29] Provides high throughput and high delivery ratio
Meets the energy efficiency requirements of nodes

nature allows TSCH to ensure efficient critical applications V. ACKNOWLEDGEMENT

performance, that are deployed in harsh environments. Chan-
nel hopping mode mitigates multi-path fading and external
interference with other devices (e.g., WIFI devices) on the 2.4
GHz frequency band. However, the scheduling in TSCH has
some serious problems that should be addressed. In this survey,
we exposed TSCH scheduling mode on channel hopping MAC
for low power wireless networks. We highlighted the main
scheduling problems of TSCH and the main requirements that
should be ensured to realise highly reliable communications.
We also discussed recent emerging scheduling techniques
that is based on intelligent algorithms for reliable and better
network performance.
Based on TSCH scheduling main constraints and TSCH
scheduling requirements described in section II-D and II-E,
we aim to create a new, efficient scheduling technique based
on reinforcement learning algorithms to fulfill all TSCH
requirements and respect all its constraints. The next proposed
TSCH schedule will essentially respect the harsh environments
constraints to convey critical packets before the deadline.
This research work is partial supported by UAEU/UPAR
Grant 31T102-UPAR -1- 2017.
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