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I. I NTRODUCTION
acoustic, magnetic, or seismic information and send the infor-
ONSIDER a group of wireless static nodes randomly dis-
mation to its gateway node which has more processing power
tributed in a region as in Fig.1, where each node has a lim- for further processing of the information or has larger transmis-
ited battery energy supply used mainly for the transmission of
sion range for the delivery of the information to a possibly larger
data. Assume that at each node some type of information is
network for retrieval by a remote user.
generated as it monitors the data such as sound or vibration in
its vicinity using the sensor, and the information needs to be Most of the previous works on routing in wireless ad-hoc net-
delivered to a set of gateway nodes. These wireless nodes are works deal with the problem of finding and maintaining correct
assumed to have the capability of packet forwarding, i.e., relay- routes to the destination during mobility and changing topology
ing an incoming packet to one of its neighboring nodes, and the [1], [6], [11]. In [1], [6], the authors presented a simply imple-
transmitted energy level can be adjusted to a level appropriate mentable algorithm which guarantees strong connectivity and
for the receiver to be able to receive the data correctly if the re- assumes limited node range. Shortest path algorithm is used in
ceiver is within the transmission range. Upon or before a new this strongly connected backbone network. However, the route
arrival of information either generated at the node itself or for- may not be the minimum energy solution due to possible omis-
warded from the other nodes, routing decision has to be made so sion of the optimal links at the time of the backbone connection
that the node knows which of its neighboring nodes to forward network calculation. In [11], the authors developed a dynamic
its data to. Note that the routing decision and the transmission routing algorithm for establishing and maintaining connection-
energy level selection are intrinsically connected in this power- oriented sessions which uses the idea of predictive re-routing
controlled ad-hoc network since the power level will be adjusted to cope with the unpredictable topology changes. Some other
depending on the location of the next hop node. routing algorithms in mobile wireless networks can be found in
An example scenario for this type of wireless ad-hoc network [15], [12], [9], [14], which, as the majority of routing protocols
may include a wireless sensor network where the sensors gather in mobile ad-hoc networks do, use shortest-path routing where
the number of hops is the path length.
Prepared through collaborative participation in the Advanced Telecommuni- The problem of minimum energy routing has been addressed
cations/Information Distribution Research Program (ATIRP) Consortium spon-
sored by the U.S. Army Research Laboratory under the Federated Laboratory before in [1], [6], [16], [10], [8], [18], [17], and [7]. The ap-
Program, Cooperative Agreement DAAL01-96-2-0002. proach in those works was to minimize the total consumed en-
ergy to reach the destination, which minimizes the energy con- O(c) where the information is generated, i.e.,
sumed per unit flow or packet. If all the traffic is routed though
through the minimum energy path to the destination the nodes O(c) = f i j Q(ic) > 0; i 2 N g; (3)
in that path will be drain-out of batteries quickly while other
nodes, which perhaps will be more power hungry if traffic is and a set of destination nodes D(c) among which any node can
forwarded through them, will remain intact. Instead of trying be reached in order for the information transfer of commodity c
to minimize the consumed energy, the performance objective of be considered done.
maximizing the lifetime of the system[3], which is equivalent to The lifetime of node i under a given flow q = fqij g is given
maximizing the time to network partition[18] has been consid- by
Ti (q) = P EiP (c) :
ered. In [18], the problem of maximizing the time to network
partition was reported as NP-complete. In [3] we identified the (4)
eij qij
maximum lifetime problem as a linear programming problem. j 2Si c2C
Therefore, it is solvable in polynomial time. The work in [3]
considered the single destination version of the problem, while Now, let us define the system lifetime under flow q as the length
here we extend the problem to the multicommodity case, where of time until the first battery drain-out among all nodes in N ,
each commodity has a its own set of destinations. which is the same as the minimum lifetime over all nodes, i.e.,
In our study the topology of the network is static and the rout-
ing accounts to finding the traffic splits that balance optimally Tsys (q) = min T (q)
i2N i
the energy consumption. Hence the results are applicable to
= min P e EiP q c : (5)
networks which are either static, like the sensor networks we i2N ij ( )
ij
mentioned earlier, or whose topology changes slowly enough j2Si c2C
such that there is enough time for optimally balancing the traffic
in the periods between successive topology changes. Our goal is to find the flow that maximizes the system life-
This paper is organized as follows: In section II, the problem time under the flow conservation condition. The problem can be
is formulated. In section III, we propose a class of flow aug- written as follows:
mentation algorithms that use the shortest cost path. In section
Maximize Tsys (q) = min P e EiP q c
IV, we extend the flow redirection algorithm to cover the multi- i2N ij ij
( )
We are given, for each commodity c, a set of origin nodes c transmitted from node i to node j until time T .
the third is the residual energy at the transmitting node i which
(c)
Qi qik(c) is denoted by Ei . A good candidate for the flow augmenting
path should consume less energy and should avoid nodes with
small residual energy since we would like to maximize the mini-
qji(c) k Si mum lifetime of all nodes. In [18], each of these were separately
considered, which falls short of optimizing the system lifetime.
i Obviously, both of these can’t be optimized at the same time,
j
which means there is a tradeoff between the two. In the begin-
ning when all the nodes have plenty of energy, the minimum
total consumed energy path is better off, whereas towards the
Fig. 2. The conservation of flow condition at node i for each commodity c end avoiding the small residual energy node becomes more im-
requires that the sum of information generation rate and the total incoming portant. Therefore, the link cost function should be such that
flow must equal the total outgoing flow. when the nodes have plenty of residual energy, the energy ex-
penditure term is emphasized, while if the residual energy of a
The linear program given above can be viewed as a variation node becomes small the residual energy term should be more
of the conventional maximum flow problem with node capaci- emphasized.
ties[5]. If the transmitted power level at each node is fixed re- With the above in mind, the link cost cij is proposed to be
nodes that has smaller energy expenditure than eig , i.e., for each link (j; k ) in the path lp(c) (t). On the other hand if
Ti (q) > min[Lsp c (i) (q)] then we need to consider two things.
( )
t = j : j2argMAX
Si ; eij <eig Llp c (j ) (q);
( ) (17) First, none of the lifetimes in the path lp(c) (t) should become
shorter than the minimum lifetime of the path sp(c) (i), i.e.,
where MAX denotes the maximum in the lexicographical order-
ing. The giver doesn’t have to be the node with the maximum
1 + ejk (ic) 1
energy expenditure. In fact we can choose any node with non-
minimum energy expenditure. In our algorithm, all these possi-
Tj (q) Ej min[Lsp c (i) (q)] ;
( )
(23)
for each link (j; k ) in the path lp(c) (t). Second, if eit > eig then
bilities are used alternately.
On the other hand, if Ti (q) > min[Lsp(c) (i) (q)] then we
the lifetime of node i may decrease due to the redirection, but
would like to increase the lifetime of the minimum lifetime node
in the path sp(c) (i) by redirecting some of the flow to another
it should not become shorter than the minimum lifetime of the
path sp(c) (i), i.e.,
path since the lifetime of that node is the minimum lifetime over
all nodes in the subnetwork consisting of node i and its down-
stream nodes. The giver g is the next hop node of node i in the
1 + (eit ? eig )(ic) 1
shortest length path sp(c) (i), and the taker can be either the node Ti (q) Ei min[Lsp c (i) (q)] :
( )
(24)
t = argMAX
j 2Si Llp c (j ) (q); (18) that meet all the constraints stated above. We could either use
(c)
the maximum i that meets all the constraints or just a fraction
( )
or the node with the minimum energy expenditure whose of it. To avoid possible oscillations and for faster convergence,
(c)
longest length path is longer than the shortest length path of we choose the half of the maximum i that meets all the con-
node i, i.e., straints except (20) and (21).
The third step of the algorithm at each node i for commodity
t = j : j2Si ;min[Llp c argmin
j (q)]>min[Lsp c i q
( ) ( ) ( )]
eij : (19) c, (Redirect the Flow), is described in more detail.
(c)
Subtracting i from the path sp(c) (g ) is simple. We made
( )( )
(c)
In fact, it suffices to find any node whose path length of the sure that i is less than or equal to what is available in each
longest length path is longer than that of the shortest length path edge in the path in (20) and (21).
of node i. In our algorithm, all these possibilities are used alter- (c)
Adding i to the path lp(c) (t) is also simple, but there is a
nately.
Given the two nodes g and t, the flow of the path composed
possibility that one or more loops of positive flow value can be
of (i; g ) and sp(c) (g ) will be re-routed to the path composed of
formed. These loops should be removed in order to avoid unnec-
(i; t) and lp(c)(t). essary energy consumption and to ensure that the path indeed
(c)
leads to the destination. After adding i to the path lp(c) (t),
The second step of the algorithm at each node i for commod-
(c)
ity c, (Calculate i ), is described in more detail. The aim of
the formation of one or possibly more loops is checked and the
loop(s) are removed link by link along the path. For instance,
if link (j; k ) in the path lp(c) (t) is checked by calculating the
this step is to determine the amount of redirection that guaran-
shortest hop distance from node k to node j in the subnetwork
tees monotonic non-decrease of the system lifetime. The con-
(c)
straints that i should meet are as follows. First, it should be
less than or equal to the flow in the path of giver node, i.e.,
G(Fc) (N; A(Fc) ) of G(N; A). If the distance is finite then at least
one loop exists. Remove the loop flow and then repeat the pro-
cedure until all loops involving the link (j; k ) is removed and
i qig(c) ; (20)
then proceed to the next link.
and In the following it is shown that FR can have arbitrarily poor
(c)
i qjk ; (21) performance. For the performance comparison, let’s denote the
X,
maximum system lifetime obtained using algorithm X by Tsys
for each link (j; k ) in the path sp(c) (g ).
Furthermore, none of opt
and the optimum system lifetime by Tsys , and the ratio between
the lifetimes should become shorter than the currently minimum these two values is denoted by
lifetime of the subnetwork consisting of node i and all its down-
TX
stream nodes since this will lead us to the opposite direction to
that of our objective. If Ti (q) min[Lsp(c) (i) (q)] then none
RX = sys
opt ; (25)
Tsys
E =1.0
adding node 6 with e61 = =3, e65 = 1 + 5, and e64 = 1 + 6.
5
(5)
V. P ERFORMANCE C OMPARISON THROUGH S IMULATION
e15 = δ / 2
e52 = 1 + 3 δ
In this section, random graphs are generated in order to eval-
uate the performances of the proposed algorithms. The perfor-
E =1.0 mances are compared with that of minimum transmitted energy
q 54
2
(2) e =1+4δ
54
(MTE) routing algorithm in order to see how much we gain in
=0
8
.32
e12 = δ
.32
terms of the system lifetime compared to the conventional min-
15 =0
e23 = 1 + δ
8
imum transmitted energy routing algorithm. Comparison is also
q
q
13
24
.3
=0
=1+2δ made with the maximum residual energy path (MREP) routing
=0
.3
(3) 24
3
12
1
algorithm proposed in [3], where the path length was a vector
q
8 q
.33 E =1.0 34 =0
=0 3 .33
8 whose elements were the link costs given by
q 13 e =2δ e34 = 1
e52 = 1 + 3 δ minimum hop (MH) routing can perform arbitrarily bad. Fig.4
(a) shows the optimal solution and Fig.4 (b) shows the minimum
E2=1.0
e54 = 1 + 4 δ hop solution. The ratio between the system lifetime obtained by
MH and the optimal solution is RMH = . As > 0 approaches
(2)
1
.97
e12 = δ
zero, RMH approaches zero. Note that the example scenario is
15 =0
e23 = 1 + δ
q =0.980
23
q
=1+2δ
=0
(3) e
24 tional to the square of the distance in free space and in higher
12
q
.0 10 q
34 =0 orders in urban area, which makes multihop transmission less
=0 E =1.0 .99
3
q 13 e =2δ e34 = 1 0 energy consuming then a single hop counterpart in many cases.
Q =1.000 13
1
(1) q =0.010
(4) Let there be 20 nodes randomly distributed in a square of size
14
e14 = 1 / δ 5 by 5. Assume that the transmission range of each node is
E =1.0
1 Ti=1.01, i = 1, 2, 3, 5 limited by 2.5, i.e., j 2 Si if and only if dij 2:5, where dij is
the distance between node i and node j . The energy expenditure
(b) per unit information transmission from node i to j is assumed to
be given by
Fig. 3. An example showing local optimum convergence of FR for arbitrary
positive constant . The flow values and lifetimes correspond to the case 1:0 10?8; dij 0:025;
opt 2:95; (b) local optimum
when = 0:01 : (a) global optimum with Tsys eij = ( dij )4 ; if
0:025 < dij 2:5: (27)
F R 1:01.
with Tsys 2:5
if
0.9
(2)
T2 = 1/δ E =1
2 0.8
0.7
average RFA
0.6 FA(1,x,0)
q =1 e12 = δ e23 = δ q =1 FA(1,x,x)
12 23 FA(0,x,0)
0.5
FA(0,x,x)
FA(x,x,0)
T = 1/δ 0.4 FA(x,x,x)
1
Q1 = 1
e =1 0.3
13
(1) (3)
E =1 0.2
1
(a) 0.1
0 1 5 10 20 30
x
0.9
0.8
e12 = δ e23 = δ
0.7
0.2
(b)
0.1
Q4 = Q5 = 1. The destination nodes are D = f19; 20g. In Figs. 7 and 8 plot the average and the worst case performance
the multicommodity case O(i) = fig and D(i) = fi + 15g for of the best FA(1; x; x) for various values of . We could observe
i = 1; 2; 3; 4; 5 with Q(ii) = 2 for i = 1; 2; 3 and Q(ii) = 1 for that as got smaller, the performance was better. Note that the
i = 4; 5. worst case of FA(1; 50; 50) when = 0:001 was 0.9929. The
Figs.5 and 6 show the results for single commodity case when curves weren’t monotonically increasing, but we can see that for
= 0:01. Multicommodity case results are not shown here smaller it is so up to a larger x than the curves of larger . This
since they were similar to the single commodity case. In all phenomenon can be best explained as follows. While the short-
cases, FA(1; x; x) was the best in terms of both average and est cost path may indeed be the optimal direction for the flow
worst case performance. It should be noted that even with augmentation, it is only so for a certain amount of flow. As soon
x = 1, RFA(1;x;x) was always over 0.8 of the optimal and about as gets larger than this amount, monotonicity of the conver-
0.98 of the optimal on the average. FA(0; x; 0) and FA(0; x; x) gence breaks. A somewhat similar behavior, though not exactly
was the worst with average performance of about 0.2, which identical, can be found in many optimization methods using de-
means that by considering only the residual energy without tak- scent direction [13], where a procedure called line search is done
ing the energy expenditure into account the system lifetime to guarantee monotonic convergence.
can’t be improved much. It’s better than the MH solution but Let’s compare the performances of the other algorithms. In
considerably worse than all the others which considers the en- both single commodity and multicommodity case, let each node
ergy expenditure term. The results also suggest that we use the i have initial energy Ei = 1 and assume that the information
(c)
normalized residual energy instead of the absolute residual en- generation rate at each origin node o 2 O(c) is Qo = 1 for
ergy, which can be more clearly seen in Fig.6 by comparing each commodity.
FA(1; x; x) with FA(1; x; 0). The single commodity case results are presented first. Be-
Average performance of FA(1,x,x) TABLE II
1
T HE PERFORMANCE COMPARISON OF THE ALGORITHMS IN THE SINGLE
COMMODITY CASE .
0.995
λ=0.001
MTE 0.7310 0.1837
average RFA
0.985
λ=0.005
λ=0.01
FR 0.9596 0.6878 88%
MREP 0.9572 0.8110 89%
0.98 FA(1; 1; 1) 0.9744 0.7347 94%
FA(1; 50; 50) 0.9985 0.9911 100%
0.975
0.97
1 5 10 20 30 50 70 : Origin
x T3=45.06
(19)
: Destination (8) (3)
(11)
(6)(10) T5=35.65
0.98 (17)
(20)
0.96 (15) (2)
T =36.66
2
(16) T =220.41
0.94 15
worst case RFA
(9)
0.92 λ=0.001 T9=20.26 T = 1.36
4
λ=0.005 (4)
λ=0.01 T1= 5.62
(1)
0.9 (12)
0.88
0.86 Fig. 9. An example showing the solution by MTE for single commodity case
where nodes 1 through 5 are the origin nodes, and nodes 19 and 20 are the
0.84 destination nodes where any one of the two nodes need to be reached.
0.82
1 5 10 20 30 50 70
Fig. 8. The worst case performance of FA (1; x; x) for various values of . RMTE , RFR and RMREP were 0.1837, 0.6878, and 0.8110,
respectively. Although it was shown earlier that both MTE and
FR can perform arbitrarily bad in the worst case, simulation re-
fore going into the statistics, let’s compare the algorithms by sults were in favor of FR. The average gain in the system lifetime
an example graph, where origin nodes are given by O = obtained by the proposed algorithms were between 49 % and 55
f1; 2; 3; 4; 5g and destination nodes are given by D = f19; 20g. % compared with MTE.
Figs.9, 10, and 11 show the solutions of MTE, FR, and In the multicommodity case, commodity i 2 C where C =
FA(1; 50; 50) with = 0:001, respectively. The true optimum f1; 2; 3; 4; 5g is assumed to be generated at node i and its desti-
opt = 6:31. One can observe that the advantage of our algo-
is Tsys nation node is node i +15 among 20 randomly distributed nodes.
rithms over MTE lies in the fact that the traffic is more spread Figs.13, 14, and 15 show examples of multicommodity case so-
out. The system lifetime obtained by FA(1; 50; 50) and FR lutions by MTE, FR, and FA(1; 50; 50) with = 0:001 respec-
were more than four times as long as that of MTE in this ex- tively, where only the aggregate flows are depicted. In this ex-
ample, and both were close to the optimal. opt = 7:81, and the sys-
ample, the optimal system lifetime is Tsys
The performances of the algorithms are presented in Table tem lifetime obtained by FR and FA(1; 50; 50) were more than
II, and in Fig.12 average and worst cases of the algorithms are one and a half times as long as that of MTE, where both were
compared. Note that = 0:001 was used for MREP and FA. close to the optimal.
For each algorithm a total of 200 randomly generated graphs In the multicommodity case, the performances of the algo-
were simulated. RFA(1;50;50) was always over 0.99 of the op- rithms given in Table III and Fig.16 showed similar behavior to
timal, i.e., even in the worst case. FA(1; 1; 1)’s performance the single commodity case. = 0:001 was used for MREP
was comparable to MREP’s. While the average of RMTE was and FA(1; 50; 50). RFA(1;50;50) was always over 0.99 of the
about 0.7310, the average system lifetime of FR, MREP, and optimal, i.e., including the worst case, and again FA(1; 1; 1)’s
FA(1; x; x) for x 1 were above 0.95 of the optimal. RFR performance was comparable to MREP’s. While the average
and RMREP were over 0.9 in about 90 % of the case while that RMTE was 0.6982, those of RFR and RMREP were 0.8862
TABLE III
T HE PERFORMANCE COMPARISON OF THE ALGORITHMS IN THE
: Origin T3=34.35
: Destination (8) (3)
(19) T =874.82
11 MULTICOMMODITY CASE .
(11)
Algorithm X
sys 14
T =34.35 (13) (14)
13
RFR = 0.95 (7)
25%
(18)
T7=34.36
T =34.37 MTE 0.6982 0.2201
54%
18
(5)
FR 0.8862 0.4297
69%
T =210742.29
17
T = 6.01 (6)(10) T5=34.34
6
(17) MREP 0.9349 0.7298
T = 6.01
10
(20)
FA(1; 1; 1) 0.9565 0.7178 86%
FA(1; 50; 50) 100%
(15) (2)
(16) T = 6.01
15
T = 6.01
2 0.9974 0.9906
T16=29.83 (9)
T9= 6.00 T = 6.00
4
(4)
(1) T12= 6.00
T1= 6.01 (12)
(7) (17)
(20) (2) T = 23.11 (12)
(10) 12
T = 269703.97
2
T = 552.01 (4)
Fig. 10. An example showing the solution by FR for single commodity case 10
T4 = 1837790.53
T = 42.95 (11)
where nodes 1 through 5 are the origin nodes, and nodes 19 and 20 are the 11
(16)
(19) T = 39.10
destination nodes where any one of the two nodes need to be reached. 16 (18)
T = 4383.25 T = 71.48 18
19
(14) (8)
(15)
T = 4.71 (5)
14
T15 = 18.25
T = 4.71
: Origin T3=36.58 5
(19)
: Destination (8) (3)
(11)
TFA = 6.29 (9) (6)
sys T =33.98 (13) : Origin (13)
13 (14)
RFA = 1.00 (7) T9 = 9.15
: Destination
(18) T = 5.00
T7=34.85 TMTE
sys
= 4.71 13 (1)
T =37.17 (3) T1 = 23.36
18 RMTE = 0.60
(5) T = 43.14
3
0.9
worst case
average
0.8 VI. C ONCLUSION
0.7
In power-controlled wireless ad-hoc networks, battery energy
0.6 at network nodes is a very limited resource that needs to be
utilized efficiently. One of the conventional routing objectives
R
0.5
(14)
T
19
= 6.99 T = 37.68
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(15)
T14 = 6.99 (5)
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0.1 ————————————————————————–
The views and conclusions contained in this document are those of the au-
0
MTE FR MREP FA(1,1,1) FA(1,50,50) thors and should not be interpreted as representing the official policies, either
Algorithms
expressed or implied, of the Army Research Laboratory or the U.S. Govern-
Fig. 16. The comparison of average and worst case performances of all three ment.
algorithms are made in the multicommodity case.