This timely book offers a mixture of theory, experiments, and simulations that provides qualitative and quantitative insights in the field of sensor and actuator networking. The chapters are selected in a way that makes the book comprehensive and self-contained. It covers a wide range of recognized problems in sensor networks, striking a balance between theoretical and practical coverage. The book is appropriate for graduate students and practitioners working as engineers, programmers, and technologists.

Table of Contents:
Preface ix Contributors xv 1. Applications, Models, Problems, and Solution Strategies1 Hai Liu, Amiya Nayak, and Ivan Stojmenovic 1.1. Wireless Sensors 1 1.2. Single-Hop Wireless Sensor Networks 2 1.3. Multihop Wireless Sensor Networks 3 1.4. Event-Driven, Periodic, and On-Demand Reporting 4 1.5. Unit Disk Graph Modeling, Hop Count Metric, andProbabilistic Reception 7 1.6. Adjustable Transmission Range and Power Metric 9 1.7. Cost Metrics 10 1.8. Sleep and Active State Modeling 11 1.9. Architectures for Wireless Sensor and Actuator Networks12 1.10. Simple Models and Application of Wireless Sensor andActuator Networks 15 1.11. Generating Connected Wireless Sensor and Actuator Networks17 1.12. Generating Mobile Wireless Sensor and Actuator Networks19 1.13. Problems at Physical, MAC, and Transport Layers 19 1.14. Problems at the Network Layer 22 1.15. Localized Protocols as the Solution Framework 25 1.16. Implementation of Sensor Motes 27 1.17. Experiments On Test Beds 28 1.18. Experiences with the Development of Sensor Network Systems29 References 30 2. Energy-Efficient Backbones and Broadcasting in Sensor andActuator Networks 33 Hai Liu, Amiya Nayak, and Ivan Stojmenovic 2.1. Backbones 33 2.2. Grid Partitioning-Based Backbones 35 2.3. Clustering-Based Backbones 36 2.4. Connected Dominating Sets as Backbones 38 2.5. Overview of Broadcasting Techniques 48 2.6. Physical Layer-Based Flooding, Neighbor Detection and RouteDiscovery 58 2.7. Parameterless Broadcasting for Delay Tolerant-Networks59 2.8. Backbones and Broadcasting in Sensor ActuatorNetworks 61 2.9. RNG and LMST 64 2.10. Minimal Energy Broadcasting 66 References 70 3. Sensor Area Coverage 75 Hai Liu, Amiya Nayak, and Ivan Stojmenovic 3.1. Problems, Models, and Assumptions 75 3.2. Coverage and Connectivity Criteria 78 3.3. Area-Dominating Set Based Sensor Area Coverage Algorithm81 3.4. Asynchronous Sensor Area Coverage 83 3.5. Synchronous Sensor Area Coverage 85 3.6. Multicoverage By Sensors 88 3.7. Physical Layer-Based Sensing, Protocols, and Case Studies89 3.8. Operation Range Assignment in WSANs 90 References 91 4. Geographic Routing in Wireless Sensor and Actuator Networks95 Hai Liu, Amiya Nayak, and Ivan Stojmenovic 4.1. Flooding-Based Routing and Georouting in Sensor Networks96 4.2. Greedy, Projection, and Direction-Based Routing 97 4.3. Applications of Cost to Progress Ratio Framework toGeorouting 100 4.4. Memorization-Based Georouting with Guaranteed Delivery103 4.5. Guaranteed Delivery without Memorization 105 4.6. Beaconless Georouting 114 4.7. Georouting with Virtual and Tree Coordinates 117 4.8. Georouting in Sensor and Actuator Networks 118 4.9. Link Quality Metric in Sensor and Actuator Networks 119 4.10. Physical Layer Aspects and Case Studies of Georouting120 References 122 5. Multicasting, Geocasting, and Anycasting in Sensor andActuator Networks 127 Arnaud Casteigts, Amiya Nayak, and Ivan Stojmenovic 5.1. Multicasting 127 5.2. Geocasting with Guaranteed Delivery 134 5.3. Rate-Based Multicasting 143 5.4. Anycasting with Guaranteed Delivery 147 References 150 6. Sink Mobility in Wireless Sensor Networks 153 Xu Li, Amiya Nayak, and Ivan Stojmenovic 6.1. Introduction 153 6.2. Energy Hole Problem 155 6.3. Energy Efficiency by Sink Mobility 160 6.4. Sink Mobility in Delay-Tolerant Networks 162 6.5. Sink Mobility in Real-Time Networks 172 References 181 7. Topology Control in Sensor, Actuator, and Mobile RobotNetworks 185 Arnaud Casteigts, Amiya Nayak, and Ivan Stojmenovic 7.1. Introduction 185 7.2. General Approaches In Static Sensor Networks 186 7.3. The Minimum Spanning Tree 187 7.4. Data Aggregation 189 7.5. Spanning Trees in Uncontrolled Dynamic Topologies 193 7.6. Detection of Critical Nodes and Links 195 7.7. Biconnected Robot Team Movement for Sensor Deployment197 7.8. Augmentation Algorithm for Robot Self Deployment 198 7.9. Biconnectivity From Connectivity without AdditionalConstraints 200 7.10. Biconnectivity from Connectivity with Additional Constraints203 References 206 8. Location Service in Sensor and Mobile Actuator Networks209 Xu Li, Amiya Nayak, and Ivan Stojmenovic 8.1. Introduction 209 8.2. Classification of Location Services 210 8.3. Location Update Policies 212 8.4. Flooding-Based Algorithms 212 8.5. Quorum-Based Algorithms 219 8.6. Home-Based Approaches 225 References 229 9. Coordination in Sensor, Actuator, and Robot Networks233 Hai Liu, Veljko Malbasa, Ivan Mezei, Amiya Nayak, and IvanStojmenovic 9.1. Sensor-Actuator Coordination 233 9.2. Task Assignment in Multirobot Systems 236 9.3. Selecting Best Robot(s) when Communication Cost isNegligible 238 9.4. Selecting Best Robot(s) with Nonnegligible CommunicationCosts 240 9.5. Dynamic Task Assignment 244 9.6. Deploying Sensors to Improve Connectivity 245 9.7. Fault-Tolerant Semipassive Coordination Among Actuators247 9.8. Dispersion of Autonomous Mobile Robots 248 9.9. Distributed Boundary Coverage by Robots 249 9.10. Clustering Robot Swarms 250 9.11. Robot Teams for Exploration and Mapping 251 9.12. Coordinated Actuator Movement for Energy-Efficient SensorReporting 252 9.13. Flying Robots 258 References 259 10. Sensor Placement in Sensor and Actuator Networks263 Xu Li, Amiya Nayak, David Simplot-Ryl, and IvanStojmenovic 10.1. Introduction 263 10.2. Movement-Assisted Sensor Placement 264 10.3. Mobile Sensor Migration 265 10.4. Sensor Placement by Actuators 266 10.5. Coverage Maintenance by Actuators 271 10.6. Sensor Self-Deployment 272 10.7. Sensor Relocation 287 References 292 Index 295