Energy Efficient Routing Protocols for Wireless Sensor Networks: A Survey

K S Shivaprakasha, Muralidhar Kulkarni

Abstract: Wireless Sensor Networks (WSNs) have become one of the emerging trends of the modern communication systems. They find their applications in various fields like habitat monitoring, home automation, environment monitoring, battle filed environment etc. WSNs are different from Mobile Adhoc Networks in the perspective of energy awareness, adaptive communication patterns and the routing algorithms. As the sensor devices are powered by batteries, which cannot be recharged often, the power awareness is one of the major requirements in WSNs. Many energy aware routing protocols have been proposed in the literature. In this survey, an attempt has been made to summarize the various energy aware routing protocols available in the literature and also a comparative analysis of these has been made considering various network parameters like the delay, routing overhead, QoS, type of routing protocol etc. Key Words: Wireless Sensor Networks (WSN), Base Station (BS), Cluster Head (CH), Medium Access Control (MAC), Region Head (RH)

I. Introduction
A Wireless Sensor Network (WSN) is a network of hundreds of small devices called sensors, which are deployed either randomly or uniformly over a geographical area. Each node is capable of sensing a physical entity like temperature, pressure, humidity etc [1, 2]. The sensed information will be conveyed to the base station. There are three ways of communicating the information to the Base Station (BS): by direct communication, via intermediate nodes or using clustering method. The first method is feasible only if the BS is in the close proximity of the sender node. Thus multi hop transmission is used in which the sender has to rely on the intermediate nodes to reach the BS. Alternatively the nodes can also be grouped into clusters with one node being the Cluster Head (CH) and the communication to the base station will always be via CH. Generally sensor nodes consist of a Sensor, Processing unit, transmitter, position finding system and power units. Power units cannot be recharged often and thus the data transmission has to be done with the minimum energy consumption. Routing in wireless sensor networks is different than the IP based routing algorithms, as global addressing schemes cannot be used here [3]. Also in WSNs data gathered is more important than the information about the node that has the data. Thus the routing protocol has to be content based. Also as the number of nodes will be large, it is more likely to happen that more than one node can have the same data. Thus the data aggregation also has to be done in order avoid the redundancy. Finally as the nodes are equipped with the limited power resource, the routing protocol has to be energy aware. Routing in WSNs has been categorized into various categories. They can be classified as proactive, reactive and hybrid protocols. Proactive protocols are

generally called as table driven protocols in which the route to the base station from every node will be determined a priori [4, 5]. These algorithms can be used for less dynamic networks. Whereas in reactive protocols the path is discovered only when it is required thus reducing a lot of routing overhead as compared to proactive protocols. Thus they are also called as on-demand protocols. Finally in Hybrid protocols the features of both proactive and reactive algorithms have been included [6]. Another way of classification is based on the network structure as either a flat or hierarchical routing. In flat routing each of the node acts independently whereas in hierarchical routing, nodes are grouped into clusters with a CH node and all transmissions will be via the CH. Routing protocols can also be categorized as either time driven, event driven or query based [8, 9]. In time driven protocols, nodes will be in active state for a fixed amount of time in a periodical manner and senses the data. In case of event driven, the nodes sense the data only when a considerable change in the entity has occurred. And in case of query based, the base station will send a request for the data when it is required and the nodes will reply to the request [10, 11]. A lot of work has been carried out in the field of routing in WSNs [12, 13, 14]. In this paper a survey has been made on the energy aware routing protocols proposed in the literature. Also a qualitative comparison of the same has been made over various network parameters like routing overhead, delay, QoS, data aggregation etc. The rest of the paper is organized as follows: Section II deals with the various design issues to be considered for the routing protocol in WSN. Section III summarizes various energy aware routing protocols proposed for WSNs. In section IV a comparative analysis of the protocols has been made. Finally section V gives the concluding remarks of the paper.

II. Routing Challenges in Wireless Sensor Networks

As discussed in Section I, routing in WSN is a challenging task. Wireless medium, limited resource availability, hostile environment pose many restrictions on the routing protocols in WSNs. In this section a brief notes on the design challenges for a WSN is studied [15, 16]. II.1 Energy Usage As the available energy in the nodes of a WSN is limited, the proposed routing protocol has to optimally use the available resources. If a nodes battery gets extinct, the node becomes dead which may lead to network partitioning. Thus the energy awareness is directly related to the survivability of the network [17, 18]. II.2 Data Aggregation As the nodes may generate redundant data, the transmission of the same will increase the network traffic, which in turn decreases the throughput. Thus the combining of the data has to be performed which is called as data aggregation [19, 20]. This can be done using various methods like duplicate suppression etc. Data aggregation will results in an efficient routing consuming less energy. II.3 Mobility of the Nodes Although WSNs are assumed to be stationary for most of the cases, there are some applications where the mobility of the nodes also has to be considered. Thus the routing protocols proposed have to be dynamic to accommodate the changes in the network. Also the event can be either static or dynamic. For example it is dynamic for tracking application whereas it is static in case of monitoring systems [21]. II.4 Data Transmission Model One of the major issues to be considered in routing in WSNs is when to send the sensed data to the BS. There are various models proposed for the same viz time driven model, event driven model and the query-based model. As mentioned in Section I, in case of the time driven model, the node will be active for a certain period of time and senses the data. Whereas in case of Event driven, the node will awake only when there is a significant change in the sensing entity. Finally in query-based model, the BS has to initiate the process by broadcasting request signal to the nodes [22].

II.5 Deployment of Nodes Node deployment also has an effect on the working of the routing protocol. The deployment of the nodes is dependent on the type of the application. It can be either random or deterministic. In case of random deployment nodes will be scattered over a geographical area in a random fashion, which may lead to the formation of the network in an adhoc manner. Whereas in case of deterministic approach, the nodes are manually placed in some order in which the routing algorithms can be simpler [23]. II.6 Scalability As mentioned earlier, the wireless sensor networks consist of hundreds of or even thousands of nodes. Also the nodes can join or leave the network with time. Thus it is desirable to have the routing protocol, which should be capable of accommodating the new nodes without affecting the behavior of the network.

III. Energy Aware Routing Protocols

As the energy conservation is a vital issue in the performance of the WSN, many protocols have been proposed considering Energy Awareness. In this section we will be summarizing some of the protocols proposed in the literature. Low-Energy Adaptive Clustering Hierarchy (LEACH) LEACH is a novel cluster based routing protocol proposed in [24]. In this protocol the CHs are chosen on the rotation basis so that the load distribution amongst nodes is almost uniform. Initially each of the nodes has to decide whether to become the CH in the present round depending on some probability. Cluster members are decided based on the distance from the CHs. Geographical Adaptive Fidelity (GAF) GAF is an energy conservative routing protocol, which is independent of the underlying routing protocol [25]. It conserves energy by identifying and turning off the unnecessary nodes in the network. In GAF the whole network is divided into small grids. The algorithm operates in three phases: Discovery, Active and Sleep. Geographic and Energy Aware Routing (GEAR) GEAR algorithm is an energy aware algorithm, which selects its neighbor based on the energy parameter and geographical information [26]. In GEAR the next hop is selected as a node N if it is closer to the destination with respect to the learned parameter. Learned parameter includes the energy and the distance parameter.

Threshold sensitive Energy Efficient sensor Network protocol (TEEN) Time constraint cannot be relaxed for some critical applications in WSNs. TEEN is a reactive protocol, which manages time sensitive applications [27]. It is a cluster based routing where CH does the data aggregation. By managing the thresholds time criticality can be ensured to time sensitive applications. Energy Efficient Routing (EER) Traditional protocols concentrate only on the shortest path but do not take into account the available battery power at each node. In Gradient-Based Routing (GBR), while being flooded, the interest message records the number of hops taken. This allows a node to discover the minimum number of hops to the user, called the nodes height. When a node detects that its energy reserve has dropped below a certain threshold, it discourages others from sending data to it by increasing its height [28]. Power-Efficient Gathering in Sensor Information Systems (PEGASIS) PEGASIS is a cluster based energy aware routing algorithm and is a near optimal chain based routing [29]. Each node communicates only with its neighbor but not to the CH directly, which reduces the energy consumption at each node. Chain formation will start from the farthest node to the BS. Chain can be reconstructed whenever a node dies in the chain. Energy Band based Routing Protocol for Wireless Sensor Networks (EBRP) EBRP is a stateless routing protocol in which the network is divided into various energy bands and the routing is done based on the energy bands [30]. It focuses on the optimal usage of available energies in all nodes. A virtual tree is formed based on the residual energies of nodes in the network with the nodes of lowest energies forming the leaves. Nodes with the same energy level and in each others vicity form the nodes at the same level. In each level, nodes will communicate only with the higher-level nodes. Thus nodes with less energy will not be burdened. Energy-aware Routing to a Mobile Gateway (EARMG) Most of the energy aware protocols proposed consider the BS to be stationary which may not be true for all applications. Thus some modifications over the existing protocols have to be suggested so as to consider the mobility of the BS. EARMG is one such algorithm [31]. Location of the gateway has to be intimated to other nodes so as to re discover routes. Hybrid Energy-Efficient Distributed clustering (HEED) HEED is a dynamic clustering algorithm where the CHs are changed periodically based on the residual energy and

the degree of the nodes [32]. Nodes are considered to be quasi stationary. Initially the CHs are formed based on their residual energy. Number of clusters is predetermined. Nodes will then join appropriate clusters so as to minimize the transmission cost. Gossip Based Routing (GBR) GBR is an energy efficient protocol, which reduces the flooding traffic [33]. Each node floods the message with some probability. Also a lot of energy can be saved if the nodes enter sleep mode whenever they are not active. In GSP, at the beginning of each period, node will decide whether to enter sleep mode or not with some probability p. Nodes awake at the end of each period and the same process is repeated. Energy-Aware Routing Protocol (EARP) In the traditional routing algorithms like AODV, the path between the source and the destination will be erased after a certain amount of time, which may lead to frequent route discovery initiations. Whereas in case of EARP the table retains all the paths that are less likely to be expired. Thus the same path can be used, if the communication between the same set of nodes have to be established [34]. Energy Aware Random Asynchronous Wakeup (RAWE) Nodes which are capable of acting i.e to perform a particular job are called as actor nodes eg: Robot. Actor nodes are provided with more battery backup than the sensor nodes. RAW-E distributes the load among the nodes in the forwarding set in proportional to their remaining energy. RAW E prefers to use actor node [35]. COordination-based Data dissemination for sEnsor networks (CODE) CODE addresses the situations where the BS is mobile and the sensors are stationary [36]. It is assumed that all nodes know their geographic information. CODE involves three phases: data announcement, query transfer and data dissemination. SInk cluster based data Dissemination for sEnsor networks (SIDE) SIDE is defined for large number of stationary sink nodes [36]. When a set of nodes in the target region receives a query message, one of them will be chosen as a source and it does the data fusion. If a data has to be sent to multiple sinks, instead of sending the data to all sinks via separate paths, source sends the data to one of the sinks and the sink nodes will then share the information amongst themselves. Improved Weighting Clustering Algorithm (IWCA) IWCA is a cluster-based algorithm in which a node with higher degree is selected as the CH [37]. It is more applicable for mobile nodes. A node with less mobility is

chosen as a CH. CH selection is based on its residual energy, mobility and its distance to its neighbors Genetic Annealing based Clustering Algorithm (GACA) GACA is hierarchical routing protocol in which the CHs are selected on the iterative basis [37]. Genetic Algorithm (GA) or Simulated Annealing (SA) is considered to select the optimal CHs. Base-Station Controlled Dynamic Clustering Protocol (BCDCP) In [38] authors have proposed a centralized cluster based routing. Initially BS receives the energy levels of all nodes and computes a set of nodes with energy more than the average energy. Nodes from that set will be chosen as CHs. Cluster formation is done in iterative manner starting with two clusters in the network. Nodes will be allocated to respective clusters depending on the distance. BS will then computes the minimum paths using spanning tree approach and will be intimated to the nodes. Cluster based Energy Efficient Routing Protocol (CBEERP) CBEERP is a cluster based routing protocol without considering the location information of the nodes. The algorithm involves two phases: cluster construction phase and data transmission phase. Initially BS broadcasts an advertisement message for CH selection. Once CHs are chosen, they advertise to other nodes and all nodes will join appropriate clusters [39, 24]. Optimal Energy-Efficient Routing (OEER) It is a table driven routing protocol in which the Bellman Ford Algorithm is incorporated for routing. OEER balances the minimum and average node lifetime [40]. Routing problem is formulated as a non-linear optimization problem. Langrangean Relaxation is being applied to solve the problem Energy Efficient AODV (EEAODV) An improvement over AODV has been proposed in which the residual energy of the intermediate nodes will be considered [41]. This has been accomplished by introducing an additional field in the RREQ packet, Minimum Residual Energy (Min-RE). Each of the intermediate nodes updates the Min- RE field. After destination receiving the RREQ messages, the ratio of Min RE and hop count is calculated and the path with largest ratio is chosen. Energy Aware Distance Vector Routing Protocol (EADV) In EADV, initially the sink node broadcasts Initial Broadcast (IB) packet to its neighbors. Each of the nodes receiving the IB packet, extracts the table information and stores in it and updates the fields like hop count and cost

and forwards further [42]. The IB packets will be forwarded in the network repeatedly till all nodes update its Hop count properly. Depending on the remaining energy in the node, the cost factor can be either linear, quadratic or cubic. Minimum Transmission Energy with Clustering Hierarchy (MTECH) MTECH is a hierarchical routing protocol that uses cluster model. Node in the cluster having the highest energy will be chosen as a CH [43]. Energy Efficient Clustering Routing Algorithm (EECR) One of the ways to incorporate the energy efficiency is to design a protocol so as to distribute the load uniformly amongst nodes. EECR is a one such cluster based algorithm [44]. BS does cluster formation and the selection of CHs. Algorithm is divided into two phases cluster formation and data transmission. BS does the job of cluster formation by iteratively dividing the network into sub networks. Reliable Energy Aware Routing (REAR) REAR is an on demand routing protocol in which the energy extinction is reduced by avoiding retransmission of the packets [45]. Algorithm works in four phases: Path discovery, energy reservation, reliable transmission and reserved resource release. When a node receives an interest message, it checks for a path to the BS. If path does not exists, service path discovery is initiated. In the meanwhile BS will discover a backup path to the sender. Energy is reserved in the path depending on the requirement. Energy Efficient Clustering Algorithm (EECA) EECCA is a centralized clustering algorithm in which the whole network topology will be notified to the BS using notification algorithm. The BS then will decide the clusters. Notification protocol involves two phases: ascending phase from nodes to the BS telling their existence and the descending phase from the BS to the nodes informing the cluster to which it belongs [46]. Distributed Energy-Efficient Clustering Algorithm (DEEC) DEEC is a distributed algorithm for heterogeneous network [47]. The CHs are elected based on the ratio of the residual energy and the average energy in the network. Nodes with more initial and residual energy have more chances of becoming the CH. Energy-Efficient Clustering Algorithm (ECA) Energy efficient Clustering Algorithm (ECA) is a dynamic clustering algorithm [48]. Algorithm involves two phases viz setup phase and steady state phase. Time stamp and

TTL (Time to Live) is used in the message to adjust the diameter of the cluster. Distance-Based Proportional Delay Differentiation (DPDD) Most of the energy efficient routing algorithms do not offer a good QoS which are not suitable for real time applications. DPDD is a QoS assured energy efficient routing in which end to end delay requirement is satisfied [49]. It is assumed that all nodes will be aware of their distance from the BS. A parameter r is defined to allocate the BW for real time and non real time traffic. Maximum Energy Cluster Head (MECH) Although LEACH was proved to be one of the optimal protocols, it does not consider the node distribution. MECH is an improvement over LEACH. It involves three phases: Setup, steady and forward phases [50]. Initially every node will broadcast hello packets to its immediate neighbors. If the number of neighboring nodes reaches a predetermined value NH, the corresponding node becomes the CH and all its immediate neighbors will become the members. After backoff time every node will reselect the CH depending on the signal strength. Hop-based Energy Aware Routing Algorithm (HEAR) HEAR algorithm does not consider data combining and routing overhead reduction [51]. Initially the BS will collect the information about all the sensor nodes in WSN. If a node has any information to be communicated to the BS, a message will be sent to the BS. Depending on the distance, BS determines an optimal hop count. It also determines the corresponding hops to reach the node. Energy Efficient Adaptive Multipath Routing (EEAMR) Multipath routing is one possible way of achieving energy awareness as it leads to the distribution of load along multiple paths to the destination. But finding the optimal number of paths is a vital issue. EEAMR is a low overhead multipath routing with energy awareness [52]. Generally node with highest energy and farthest from the transmission node is selected as the next hop. It involves two phases: Multipath construction phase and data transmission phase. Energy Efficient Clustering Scheme (EECS) EECS is a cluster-based approach developed for periodical data gathering applications [53]. It focuses on low control overhead and uniform load distribution. Initially BS broadcasts a HELLO message from which all nodes will compute their distance from the BS. In CH formation phase, nodes that are interested to become CHs will advertise a message within its radio range. A node with higher energy level is elected as the CH for the

corresponding cluster. Other members of the cluster will be decided based on the distance from the CH. Minimum Energy Relay Routing (MERR) MERR takes the linear topology of the network into consideration. Here it is assumed that the sensor nodes transmit the data to the base stations via relay nodes and the distance between the relay nodes has to be approximately equal to the characteristic distance [54]. Characteristic distance is the optimal distance which is a constant predetermined at the time of network set up. Energy Aware Routing (ERP) Energy aware routing uses energy availability and the received signal strength from the nodes to determine the optimal path. Each of the nodes will decide the next node to which the data has to be forwarded based on its residual energy and the signal strength. The algorithm operates in three phases: Neighbor Discovery, Route Reply and Reliable Transmission [55, 56] Transmission Power Control MAC Protocol (SMAC) Energy consumption can be reduced by reducing the idle time of the sensor nodes. In SMAC, nodes form virtual clusters based on common sleep schedules to reduce control overhead and enable traffic-adaptive wakeup [57]. Cross Layer MAC (CLMAC) Protocol Reducing the size of the routing table will minimize the consumption of the energy. CLMAC protocol includes routing distance in the preamble field [58]. As the usage of big routing tables has been replaced by a field in the preamble, the traffic in the network can be reduced thus reducing the energy consumption. Energy Efficient Cluster Head Selection Algorithm (EECSA) EECSA is a cluster based routing algorithm [59]. The algorithm works in three phases: CH selection, cluster formation and the scheduling based on TDMA. CHs are selected based on the residual energy. Proposed algorithm is an improvement over LEACH. If the available energy of the node is greater than the 50% of the initial value then the normal LEACH is used else the proposed protocol is used in which the probability of the node to be selected as a CH is the ratio of the residual energy and the initial energy. Simple Energy Efficient Routing Protocol (SEER) In [60] a flat algorithm has been proposed to improve the network lifetime. SEER reduces the overall traffic in the network thus decreasing the energy consumption. In the initialization phase, BS will broadcast the packet. All nodes receiving it will update with hop count and re broadcast to its neighbors by replacing the source address by itself and enters its residual energy. For forwarding node selects its

neighbor with the hop count less than itself. If more nodes have the same minimum hop count, the one with maximum energy is selected. Same process is repeated at the intermediate nodes. Energy-Efficient Multipath Routing Protocol (EEMR) EEMR is multipath routing [61]. When there will be an event, the surrounding nodes exchange data themselves and one of them is chosen as the source. Source aggregates the data and sends to the BS. Each node selects its next hop depending on the distance and the residual energy. It is assumed that multipaths are disjoint. EEMR involves four phases: Initialization, multipath selection, data transmission and path maintenance. Energy Efficient Clustering Algorithm (EECA) In EECA, CHs are distributed evenly in the network and unnecessary CHs are avoided [62]. Clusters have to be formed in the network in such a way that there will an uniform distribution of the CHs. Advertisement message can be broadcasted based on CSMA protocol. Once the CHs are elected, clusters will be formed. Reactive Energy Decision Routing Protocol (REDRP) REDRP is a reactive energy aware protocol [63]. It involves four phases viz Initialization, route discovery, data transmission and route maintenance. Initially the BS broadcasts a timer packet, each node records the time stamp at the distance field as less is the delay near is the node to the BS. Route is established only when there is an event. SeNsOr netWork CLUSTERing (SNOW) SNOW is a cluster-based algorithm in which the nodes with higher residual energy are chosen to be the CHs. After CHs are formed, the BS selects the region heads (RH) amongst the CHs. Nodes with higher residual energy will be chosen as the region heads. After receiving the intimation from the BS, each of the CHs check whether it is a RH and accordingly it will set its region ID. CHs and RHs are chosen so as to distribute the load amongst them [64]. Energy Efficient Dynamic Clustering (EEDC) EEPA is an energy efficient protocol based on the metric [65]. Initially nodes with higher energy form the CHs and the remaining nodes become the members. Clusters are formed so as to minimize the distance between the cluster members and the CH. Cluster updating is done in the same manner as that of LEACH [24]. Energy Efficient Geographic Grid Routing (EEGGR) EEGGR considers the BS to be mobile. Sensor nodes are considered to have location awareness. Grid structure is used for forwarding the data to the sink node [66].

Energy Aware Directed Diffusion (EADD) Protocol The normal Directed Diffusion algorithm will always considers the shortest path between the source and the sink, which leads to unbalanced energy distribution. In EADD protocol, if two sources receive the same interest message, both the nodes will respond to the destination via different paths [67]. The path with the maximum residual energy is chosen for communication. If more than one path are having the same available total energy, then the path involving the highest minimum energy will be selected. Energy Efficient Routing Scheme for Mobile Wireless Sensor Networks (MLEACH) Its an improvement over existing LEACH algorithm which incorporates the mobility of the sensors. It is assumed that all nodes are homogeneous and position aware and the BS is stationary [68]. The total sensing area is divided into sub areas and CH is optimized within the sub areas. Generally nodes with less mobility are preferred to the CH. Color-theory-based Energy Efficient Routing (CEER) CEER is a cluster based algorithm based on color theory based localized algorithm. Location of a mobile node is represented by its RGB values. Server computes the positions of the nodes depending on the RGB information. When a node moves to a new location, it collects the RGB information from its neighbors. CEER involves three phases viz setup phase, data dissemination phase and refinement phase [69]. Extending Lifetime of CH (ELCH) ELCH is a hybrid type protocol in which the direct communication is used for any intra cluster transmission and multihop is used for inter cluster communication. It uses MTE (Minimum Transmission Energy) protocol as the underlying protocol. It involves two phases: setup phase and steady state phase [70]. Hybrid Energy Aware Routing Protocol (HEARP) In [71] a new protocol was proposed which combines the features of LEACH and PEGASIS. In HEARP members in the clusters will not communicate directly with the CHs but through the intermediate nodes. It involves two phases: initialization or set up phase and the steady state phase Global Simulated Annealing Genetic Algorithm (GSAGA) GSAGA is a centralized control algorithm which involves two phases: Setup phase and steady state phase [72]. Initially all nodes will transmit the location information and the residual energy to the BS. BS will then compute the average network energy. Nodes with energy more than the average can become the CHs. Genetic algorithm is used for the cluster head selection

Advanced Medium Access Control (A-MAC) A-MAC is a TDMA-based MAC protocol, which uses a distributed technique where node selects its own slot by collecting the information from its neighbors [73]. A-MAC has four states in its operation namely initial, wait, discover, and active states Track-Sector Clustering (TSC) TSC is a cluster-based algorithm in which the network is divided into concentric circular tracks and triangular sectors [74]. BS does the formation of the tracks and clusters. TSC uses tracks and sectors to form clusters. Head nodes in each track are selected by the BS. A node is selected randomly as the head node in level 1. Nodes with the similar slopes will be chosen as the head nodes in the higher levels. Partition LEACH Algorithm (PLEACH) In [75] an improvement over the LEACH algorithm was proposed: PLEACH. It first does the optimal partitioning of the network and then the node with the highest energy in each partition will be chosen as the CH. It outperforms LEACH as the CHs are evenly distributed over the network [76]. Energy Aware Adaptive Clustering (EAAC) Cluster based algorithms were proved to be better compared to flat routing. EAAC is one such algorithm in which CHs and the next heads are determined based on the residual energy and the distance between the CH and the members in the cluster [77]. EAAC protocol works in various rounds each has a set up phase and a steady state phase. Energy-Level Passive Clustering (ELPC) ELPC is a passive clustering algorithm in which clusters are formed on demand. It focuses on two issues viz: minimizing the energy per packet and uniform load balancing [78]. MiSense Hierarchical Cluster-Based Routing Algorithm (MiCRA) MiCRA is an extension over the HEED protocol [79]. It involves two levels of cluster hierarchy. First level CHs elects the second level CHs. MiCRA considers two parameters viz residual energy of the nodes which is used to select the CHs and the intra cluster communication costs used to break ties. GRAdient Cost Establishment (GRACE) GRACE is a dynamic routing algorithm in which BS initializes the set up phase by sending an advertisement packet. Routing table is updated at all nodes depending on the energy and distance parameters. Each of the nodes will

then forward the packet from the source node to the node with the minimum cost [80] Sensor system for Hierarchical Information gathering through Virtual triangular Areas (SHIVA) In SHIVA both nodes and BS are mobile [81]. Although the nodes are mobile, it is assumed that the logical cluster remains same for certain duration. It is assumed that BS can predict its movement for the next time interval. The network topology can be computed by the BS by predicting its and the nodes movement profile. This topology remains valid for the time interval under consideration. Improvement on LEACH Protocol (VLEACH) Many improvements over LEACH have been proposed. VLEACH is one such protocol [82]. In VLEACH there will be a CH, a vice CH and cluster members. Vice CH will become the CH if the current CH dies. Provisioning of the vice CH is the key parameter in VLEACH. Energy Efficient Heterogeneous Clustering (EEHC) Cluster based routing is more advantageous compared to flat routing. EEHC is a heterogeneous cluster based routing. We can categorize the nodes present in the network as normal nodes with limited energy and advanced and super nodes with higher energy. Weighted probability is considered for the election of the CHs [83]. Energy Efficient Routing Algorithm for Hierarchically Clustering (ERHC) ERHC is a cluster-based algorithm. Hop count from the BS is considered to form the hierarchy and the CHs are selected in an autonomous manner. Alternative sensor node for all intermediate nodes is determined in this algorithm where the determined node will become the next alternative intermediate hop if the energy of the present hop goes below the threshold [84]. Energy Aware DSR (EADSR) Traditional DSR can be slightly modified to incorporate the energy function. The basic idea behind this is as follows: when an intermediate node in the network decides to forward a RREQ message that it has received, it introduces an additional delay before re-transmitting this message. The delay is dependent on the residual battery power in the node. Thus the nodes with higher battery levels are more likely to be included in the path [85]. Energy Efficient Clustering Hierarchy and Data Accumulation (EECHDA) In the protocol proposed in [86], cluster head performs the communication with the base station. It involves two phases viz Cluster head election phase and data transfer phase. After some time slots a non CH with higher energy becomes the new CH.

An Adaptive Energy Efficient Reliable Routing Protocol (AEERRP) In the AEERRP, the source adjusts the flooding rate depending on the loss rate at the sink [87]. If the loss rate is very less, then the transmission power can be reduced. Thus there has to be a tradeoff between the power consumption and the latency. Energy-Aware QoS Routing (EAQOS) Although the proposed energy aware routing protocols minimizes the energy consumption, they do not work good for some applications where QoS is also required. EAQoS is an energy aware routing protocol, which also assures good QoS [88]. It is a cluster-based protocol where the cluster formation is done by the command node. In order to support both real time and non real time traffic, a ratio r is defined is the initial value set by the gateway and represents the amount of bandwidth to be dedicated both to the real-time and non-real-time traffic on a particular outgoing link in case of a congestion. Energy Efficient Cluster-based Routing Algorithm (EECRA) EECRA is a cluster based routing algorithm, which assumes that the sensors are deployed randomly over the given geographical area [89]. CH is selected based on two parameters: residual energy and the node degree. CH selects the members for the cluster based on the energy and the distance from itself. Homogenous Clustering Algorithm (HCA) For cluster based routing, cluster formation and leader election are two crucial issues. In homogeneous clustering sensors will be of same hardware and initial battery capability. Initially BS collects the information about the location of all nodes and initializes clusters such that all cluster head selection is uniform throughout the area. Initially CHs are selected randomly in each zone. New CH is elected periodically depending on the residual energy and the relative distance from the current CH [90]. Energy Efficient Cross Layer Routing Algorithm with Dynamic Retransmission for Wireless Sensor Networks (E2XLRADR) In E2XLRADR a cross layer approach is considered which involves sharing of information amongst layers. Physical, MAC and network layers are considered. Algorithm involves five phases [91]. Ant colony optimization is combined with the Opportunistic Routing Entropy (ACO-TDOP) Opportunistic Routing is an effective energy aware routing in which the next relay is selected dynamically for each hop and packet. Key design parameter includes the selection of the path with minimum delay and higher

energy level. For better performance one has to choose the next hop which has more energy level, consumes less energy and is nearby to the sink [92]. Balanced Energy-Aware Routing (BEAR) Energy aware routing protocols are classified as either energy saver or energy manager. In BEAR there will be a trade off between energy balancing and optimal distance [93]. It is an improvement over SEER [60]. A flag is used in the packet to distinguish the normal and the critical data. Energy Efficient Routing Protocol (EERP) EERP is based on the learning automata [94]. It does efficient flooding which in turn leads to energy efficient routing. Protocol has two phases: identification phase and data transmission phase. Threshold Distributed Energy Efficient Clustering (TDEEC) Although cluster based routing is found to be better selection of the cluster head is a crucial issue. TDEEC is a hierarchical routing in which CH selection is based on the residual energy of the node and the average energy of the network [95]. Clustering Technique for Wireless Sensor Networks (CTRWSN) In [96] a cluster based algorithm was proposed in which the CHs are chosen on the rotation based in order to have uniform energy depletion. It minimizes the energy consumption for new CH selection after each round by keeping the selected CH for m consecutive rounds. Two level heterogeneous network with normal and advanced nodes is considered. There are two phases of operation: Setup phase and steady state phase. Location Aware Multi-level Clustering (LAMC) Multi level clustering algorithms were developed in the literature. An improvement over EEMC is proposed in [97]. In LAMC, BS will broadcast a beacon message and all nodes will reply with their location and the residual energy. BS will then send the command message and the CHs for level 1 are selected. CHs of level 1 will broadcast message to all nodes within a certain range and the process is repeated within the cluster to select level 2 CHs. This process is continued for a predefined number of times to have multi level clustering. Power Aware Multi-level Clustering (PAMC) In PAMC nodes need not have to have their location information [97]. BS will broadcast a beacon message. All nodes reply with the minimum power level to reach the BS along with the residual energy and the power information. Further process is same as that of the LAMC algorithm [97].

Distance based Energy Aware Routing Algorithm (DEAR) Goal of the DEAR algorithm is to optimize all individual paths so as to make all nodes to consume energy at the same rate [98]. It consists of two phases viz route setup and route maintenance. Whenever there is a data to be transmitted, source node initiates the route setup phase. Tree based Energy and Congestion Aware Routing Protocol (TECARP) Congestion avoidance is more efficient than congestion control as congestion control requires more resources. TECARP is a hierarchical routing protocol which considers the energy awareness through congestion control [99]. It focuses on congestion avoidance by constructing the tree efficiently. It involves three phases: network clustering, creating routing tree and data forwarding. Energy Efficient Grid Clustering (EEGC) EEGC is a cluster based energy aware routing protocol. It involves two basic principles: path with minimal energy consumption and load balancing. EEGC normalizes the clustering area. It overcomes the drawback of uneven area distribution for the clusters in the LEACH algorithm [100]. A Tree Based Routing Protocol (TBRP) TBRP is an energy aware routing protocol proposed for mobile sensor networks. In this protocol all nodes in the network form a tree with different levels. Distance between
Protocol Classification Data Aggrega tion Yes Scalability Query Based No

levels is equal to the radio communication range. The algorithm involves three phases: tree formation, data collection and transmission and purification phases [101]. Cluster Based Energy Efficient Routing Protocol (CBERP) Although LEACH is an efficient algorithm proposed for WSNs, CHs will die earlier than other nodes [24]. CBERP is an improvement over LEACH. BS selects the CHs initially. Multihop transmission using chain of CHs is done in CBERP [102]. Optimal Path Energy Efficient Routing (OPEER) Although EEAODV [41] was proved to perform better, it has been still improved by assigning the job of route establishment to the BS in OPEER [103, 104]. As the BS is not energy constrained, it can be over burdened without affecting the network performance. Also the usage of multiple thresholds has been proposed in the paper, which further assures the uniform load balancing in the network.

IV. Comparative Analysis

In this section we will be presenting a qualitative analysis of the protocols discussed in Section III. The comparison has been made considering various network parameters like the delay, routing overhead, QoS, type of routing protocol etc.

TABLE 1 COMPARATIVE ANALYSIS OF THE ENERGY AWARE ROUTING PROTOCOLS

Overhead Delay Position Estimation Relative positions are considered Relative positions are considered Considered Relative positions are considered No Relative positions are considered Considered Considered Considered No No Relative positions are considered Mobility Working Layer Network

QoS Good Good

LEACH [24] GAF [25]

Hierarchical/ Cluster based Flat

Limited

Less

Less

Stationary

No

Good

NA

GEAR [26] TEEN [27] EER [28] PEGASIS [29] EBRP [30] EARMG [31] HEED [32] GSP [33] EARP [34] RAW-E [35]

Flat Hierarchical/ Cluster based Flat Hierarchical/ Cluster based Flat Flat Hierarchical/ Cluster based Flat Flat Flat

No Yes

Good Limited

No Yes (Reacti ve) No No

Depends on the underlying protocol Less Less

Depends on the underlying protocol Slightly high Depends on the threshold Less Slightly high

Depends on the underlying protocol Stationary Stationary

MAC/ Network

Network Network

Limited Good Good Limited Limited Limited Good Good Good Limited

Yes Yes

Yes Limited

Less Less

Stationary Stationary

Network Network

Yes NA Yes No No No

Good Good Limited Very Good No Limited

Yes Yes No No Yes No

Slightly high Slightly high Less Very Less Less More

Less Slightly high Less Less Less Less

Stationary Mobile Quasi Stationary Stationary Stationary Stationary

Network Network Network MAC/ Network Network MAC and Network

CODE [36] SIDE [36] IWCA [37] GACA [37] BCDCP [38] CBEERP [39] OEER [40] EE AODV [41] EADV [42] MTECH [43] EECRA [44] REAR [45] EECCA [46] DEEC [47] ECA [48] DPDD [49] MECH [50] HEAR [51] EEAMR [52] EECS [53] MERR [54] ERP [55, 56] SMAC [57] CLMAC [58] EECSA [59] SEER [60] EEMR [61] EECA [62] REDRP [63] SNOW [64]

Flat Flat Hierarchical/ Cluster based Hierarchical/ Cluster based Hierarchical/ Cluster based Hierarchical/ Cluster based Flat Reactive/ Flat Flat Hierarchical/ Cluster based Hierarchical/ Cluster based Reactive Hierarchical/ Cluster based Hierarchical/ Cluster based Hierarchical/ Cluster based Hierarchical/ Cluster based Hierarchical/ Cluster based Flat Flat/multipath Hierarchical/ Cluster based Flat Flat

No Yes Yes

Good Good Limited

Yes Yes No

Slightly high Less Less

Slightly high Slightly high Slightly high

Considered Considered Relative positions considered Relative positions considered Relative positions considered Relative positions considered No No Can be considered Relative positions are considered Relative positions are considered No Considered Relative positions are considered Relative positions are considered Considered Relative positions are considered No No Considered No Relative positions are considered No No Relative positions are considered No No Relative positions are considered No Considered

Mobile Stationary Mobile are Mobile are Stationary are Stationary are Stationary Stationary Dynamic network Can be mobile Stationary

Network Network Network

Limited Limited Limited Limited Limited Good Good Limited Limited Limited Limited Limited Limited Limited Good Very Good Limited Good Good Limited Depend on dmean Limited Good Limited Good Limited Good Good Limited Limited

Yes

Limited

No

Slightly high Slightly high Less

Less

Network

Yes

Limited

No

Less

Network/ MAC Network

Yes

Limited

No

Less

No No No Yes

Limited Yes Yes Limited

No Yes Yes Yes

Less More More Less

Less More Can be high Less

Network Network Network Network

Yes

Good

No

Slightly high Slightly high Slightly high Slightly high Less

Less

Network

No Yes Yes

Good Limited Limited

Yes Yes No

Slightly high Slightly high Less

Stationary Stationary Stationary

Network/t ransport Network Network

Yes

Limited

No

Less

Stationary

Network

Yes Yes

Limited Limited

No No

Slightly high More

Less for real time traffic Slightly high

Stationary Not considered Stationary Stationary Stationary Stationary Stationary

Network MAC and Network Network Network Network Network Network

No Yes Yes No No

Yes Good Limited Limited Yes

No No No Yes No

NA Less Slightly high Less Less

Can be high Less Less Less More

Flat Flat Hierarchical/ Cluster based Flat Flat/multipath Hierarchical/ Cluster based Reactive Hierarchical/ Cluster based

No No Yes

Yes Yes Limited

No No No

More Very less Less

Less Less Less

Stationary Stationary Stationary

MAC MAC & Network Network

No Yes Yes

Good Good Limited

No No No

Slightly high Less Less

Less Less Less

Stationary Stationary Stationary

Network Network MAC/ Network Network Network

No Yes

Good Limited

Yes No

Slightly high Slightly high

Slightly high Less

Stationary Stationary

EEPA [65] EEGGR [66] EADD [67] MLEACH [68] CEER [69] ELCH [70] HEARP [71] GSAGA [72] A-MAC [73] TSC [74] PLEACH [75, 76] EAAC [77] ELPC [78] MiCRA [79] GRACE [80] SHIVA [81] VLEACH [82] EEHC [83] ERHC [84] EADSR [85] EECHDA [86] AEERRP [87] EAQOS [88]

Hierarchical/ Cluster based Flat Flat Hierarchical/ Cluster based Hierarchical/ Cluster based Hierarchical/ Cluster based Hierarchical/ Cluster based Centralized/ Cluster based Data centric Centralized/ Cluster based Centralized/ Cluster based Centralized/ Cluster based Hierarchical/ Cluster based Hierarchical/ Cluster based Flat Hierarchical/ Cluster based Hierarchical/ Cluster based Hierarchical/ Cluster based Hierarchical/ Cluster based Flat Hierarchical/ Cluster based Flat Hierarchical/ Cluster based

Yes

Limited

No

Slightly high Less More Less

Less

Yes No Yes

Good Yes Limited

Yes Yes No

Slightly high More Less

Relative positions are considered Considered No Considered

Stationary

Network/ MAC Network Network are but Network

Limited Limited Limited Good Limited Limited Limited Limited Good Limited Limited Good Good Limited Limited Good Good Limited Good Limited Limited

Mobile Stationary Nodes Mobile not BS Mobile Stationary

Yes Yes

Limited Limited

No No

Slightly high Slightly high Less

Slightly high Less

Considered Relative positions are considered Relative positions are considered Relative positions are considered NA Considered Considered Considered Relative positions are considered Relative positions are considered No Considered Relative positions are considered Relative positions are considered Relative positions are considered No Relative positions are considered No Relative positions are considered

Network Network

Yes

Limited

No

Slightly high

Stationary

Network

Yes

Limited

Yes

Slightly high NA Slightly high Slightly high Less Less

Less

Stationary

Network

NA Yes Yes Yes Yes

NA Limited Limited Limited Limited

Yes Yes Yes Yes No

Less Less Less Less Less

Stationary Stationary Stationary Stationary Stationary

MAC Network Network Network Network

Yes

Limited

No

Slightly high Less Less Less

Less

Stationary

Network

No Yes Yes

Good Good Limited

Yes No No

Slightly high Less Less

Stationary Mobile Stationary

Network Network Network

Yes

Limited

No

Slightly high Less

Less

Stationary

Network

Yes

Limited

Yes

Less

Stationary

Network

No Yes

Yes Limited

No No

Less Less

Slightly high Less

Stationary Not considered Stationary Stationary

Network Network

No Yes

Yes Limited

Yes No

Less Less

Less Depends on design parameter r

Network Network

Limited Depend on design parame ter Good

EECR [89] HCA [90] E2XLRA [91] ACO TDOP [92]

Hierarchical/ Cluster based Hierarchical/ Cluster based Flat

Yes

Limited

No

Less

Less

Relative positions are considered BS will have all location information No

Stationary

Network

Yes

Limited

No

Slightly less

Less

Stationary

Network

Good

No

Good

No

Less

Less

Stationary

Physical, MAC & Network Network

Good

Flat

No

Good

No

Slightly high

Less

No

Stationary

Limited

BEAR [93] EERP [94] TDEEC [95] CTRWSN [96] LAMC [97] PAMC [97] DEAR [98] TECARP [99] EEGC [100] TBRP [101] CBERP [102] OPEER [103]

Flat Flat Hierarchical/ Cluster based Hierarchical/ Cluster based Hierarchical/ Cluster based Hierarchical/ Cluster based Flat Hierarchical/ Cluster based Hierarchical/ Cluster based Hierarchical

No No Yes

Good Good Limited

No No No

Less Less Slightly high Less

Less Less Slightly high

No No Relative positions are considered Relative positions are considered Yes Relative positions are considered No Relative positions are considered Relative positions are considered Relative positions are considered Relative positions are considered No

Stationary Stationary Stationary

Network Network Network

Good Good Limited

Yes

Limited

No

Less

Stationary

Network

Good

Yes Yes

Limited Limited

No No

High High

Less Less

Stationary Stationary

Network Network

Limited Limited

No Yes

Good Limited

No No

Slightly high Slightly high Slightly high Slightly high Slightly high Very Less

Less Less

Stationary Stationary

Network Network

Limited Good

Yes

Limited

No

Less

Stationary

Network

Limited

Yes

Limited

Yes

Less

Mobile

Network/ MAC Network

Limited

Hierarchical/ Cluster based Flat/ Centralized

Yes

Limited

Yes

Less

Stationary

Limited

No

Good

Yes

Less

Stationary

Network

Good

Table 1 summarizes the behaviour of each of the protocols studied. A detailed summary has been presented in table 1. It has been observed from the table that an ample number of protocols were proposed in the literature [105, 106, 107, 108, 109]. Most of the algorithms were application specific and may not work fine for all type of application environments. Most of the proposed energy aware protocols trade off delay and energy efficiency.

V. Conclusion
Routing in WSNs is one of the emerging areas of research. There are many challenging tasks to be considered while proposing a routing protocol for WSN. Energy awareness is one of the important parameters the routing protocol should posses. In this paper a comprehensive survey has been made on the energy efficient routing protocols and an analysis has been presented. The comparison has been made based on various parameters. From the table it is clear that, there is no clear winner. The selection of the routing protocol has to be made based on the application. But we can conclude that cluster based algorithms are better compared to flat routing.

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K S Shivaprakasha received his BE (Electronics & Communication) from Bahubali College of Engineering, Visvesvaraya Technological University with IX rank to the University and MTech (Digital Electronics and Communication Systems) from Malnad College of Engineering, Visvesvaraya Technological University with I rank to the University in 2004 and 2007 respectively. Presently he is pursuing his PhD at National Institute of Technology Karnataka, Surathkal in the field of Wireless Sensor Networks. He has a teaching experience of 5 years. Presently he is a Senior Lecturer at Bahubali College of Engineering, Shravanabelagola, Karnataka, India. His areas of interest include Wireless Sensor Networks, Mobile Adhoc Networks, Information Coding Theory and Cryptography. He has more than 15 publications to his credit. Muralidhar Kulkarni received his B.E. (Electronics Engineering) degree from University Visvesvaraya College of Engineering, Bangalore University, Bangalore, M. Tech (Satellite Communication and Remote Sensing) from Indian Institute of Technology, Kharagpur (IIT KGP) and PhD from JMI Central University, New Delhi in the area of Optical Communication networks. He has 28 years of experience which includes 5 years in industry and 23 years of teaching experience. He has held the positions of Scientist in Instrumentation Division at the Central Power research Institute, Bangalore (1981-1982), Aeronautical Engineer in Avionics group of Design and Development team of Advanced Light Helicopter(ALH) project at Helicopter Design Bureau at Hindustan Aeronautics Limited(HAL), Bangalore (1984-1988), Lecturer (Electronics Engineering) at the Electrical Engineering Department of University Visvesvaraya College of Engineering, Bangalore (1988-1994) and Assistant Professor in Electronics and Communication Engineering (ECE) Department at the Delhi College of Engineering (DCE), Govt. of National Capital territory of Delhi, Delhi (1994-2008). He has served as Head, Department of Information Technology and Head, Computer Center at the Delhi College of Engineering (University of Delhi), Delhi. Currently, he is a Professor and Head in the Department of Electronics and Communication Engineering (ECE) Department, National Institute of Technology Karnataka (NITK), Surathkal, Karnataka, India. He is currently the Coordinator of the Centre of Excellence for Wireless Sensor Networks, Dept. of Electronics and Communication Engineeing, National Institute of Technology Karnataka. Dr. .Kulkarnis teaching and research interests are in the areas of Digital Communications, Fuzzy Digital Image Processing, Optical Communication and Networks, and Wireless Sensor Networks. He has published several research papers in the above areas, in national and International journals of repute. For various contributions his Biography has been listed in the Marquis, Who's Who in Science & Engineering (2008). He has also authored/coauthored four very popular books in Microwave & Radar Engineering, Communication Systems, Digital Communications and Digital Signal Processing.