1

Overall Cost Minimization for Data Aggregation in

Energy-Constrained Wireless Sensor Networks
Wei An

, Song Ci

, Haiyan Luo

, Dalei Wu

, Yanni Han

, Ying Qi

, and Tao Lin

High Performance Network Lab, IOA, Chinese Academy of Sciences, Beijing 100190, China

Department of CEEN, University of NebraskaLincoln, NE 68182, USA

Cisco Systems, Inc., USA

Massachusetts Institute of Technology, Cambridge, MA 02139, USA

AbstractIn wireless sensor networks (WSNs), sensor nodes
are usually powered by batteries of limited capacity, which results
in dynamic changes of available paths for data aggregation due
to node failures caused by energy depletion. For transmitting
certain amount of data generated by source node, the overall
transmission cost is affected by two major factors, using sequence
of available paths and amount of data imposed on each path,
which becomes a major issue signicantly inuencing the efcient
usage of the networks. To address this issue, we consider the
optimization problem of how to minimize the overall transmission
cost of given data delivered from the source node to the sink node
in the energy-constrained WSN. Specically, we rst describe
the problem on the basis of the minimum cost ow theory and
derive the upper bound for the data amount in terms of the
number of packets that can be successfully transmitted from
the source node to the sink node. Then, we propose specic
algorithms to derive the optimal paths and their optimal data
amounts, and then achieve the minimized overall transmission
cost for the certain amount of data. Extensive simulations show
that signicant performance enhancement can be achieved by
using our proposed algorithms.
I. INTRODUCTION
Due to the rapid development in electronics and communi-
cations, wireless sensor networks (WSNs) have made plenty of
advances for providing more reliable information with higher
Quality of Service (QoS) at lower costs [1]. Sensor nodes
are usually deployed in an area of interest for monitoring
environments or events, and multi-hop paths are adopted for
transmitting the data from the source nodes to the sink node.
However, sensor nodes are usually powered by limited energy
supply, like battery, which cannot be recharged or replaced in
harsh environments, such as battle elds, nuclear, biological
and chemical contaminated areas. Due to the failures of
sensor nodes caused by energy depletion, available paths are
suffered from dynamical changes, which further affects the
transmission costs of data that are delivered to the sink node.
Consider the topology of a wireless sensor network as
shown in Figure 1. The labels on the links between any two
network nodes are the transmission cost associated with them.
* Corresponding author. Email address: sci@engr.unl.edu.
This work was partially supported by A3 Foresight under Grant No.
11161140319 and by National Science Foundation of China under grant
numbers No. 61201232, by Academy-Locality Cooperation Project of China
under grant No. YDJDBNJ-2012-005 and by US National Science Foundation
under grant No.1145596 and No. 0830493.
s
7
2
3
6
1
t
1000
500 1000
1000
0.4 0.2
0.3
0.6
0.4
0.4 0.5
0.8
0.9
0.3
4 5
0.4
0.7
0.4
1000 500
500
(a) Scheme 1
s
7
2
3
6
1
t
1000
500 1000
1000
0.4 0.2
0.3
0.6
0.4
0.4 0.5
0.8
0.9
0.3
4 5
0.4
0.7
0.4
1000 500
500
(b) Scheme 2
Fig. 1. Illustration of the topology of a wireless sensor network, where node
s and t are the source and sink nodes, respectively. Other nodes are the relay
nodes.
The numbers shown in the rectangles are the available energy
on the corresponding node, represented by how many packets
can be sent before the energy is fully consumed. Here, we
assume the packet size is xed. As shown in Figure 1(a), we
exploit a greedy strategy to relay given 900 packets, which
may represent the data generated by source node s over a
long period of time, from s to t. We rst nd the minimum
cost path s 4 3 2 t by using the traditional routing
algorithms, such as Dijkstras algorithm [2]. Suppose nodes s
and t have huge energy supply. We impose 500 packets on this
path, and then nodes 2, 3 and 4 will run out of energy. Next,
we nd another minimum cost path s 6 7 t and then
relay 400 packets with this path. The overall transmission cost
can be calculated as 50013+40018 = 13700. However, by
the combined usage of two sub-optimal paths of transmission
cost s 1 2 t and s 4 5 t in Figure 1(b), 900
packets can be achieved with the overall transmission cost
of 500 14 + 400 15 = 13000. Obviously, the former
scheme of always using the minimum cost paths cannot reach
the minimum overall transmission cost, because the former
selected minimum cost paths affect the selection of the latter
paths. With this instance, two issues need to be addressed: (1)
since the brute-force search of enumerating all combinations
of available paths is time-consuming, efcient algorithms are
needed to derive the optimal combination of paths; (2) proper
amount of data for each path needs to be determined so as
to minimize the minimum overall cost of given data. In sum,
how to effectively minimize the overall transmission cost of
given data is the issue that will be addressed in this work.
Increasing efforts can be found in literature that focus on the
978-1-4673-3122-7/13/$31.00 2013 IEEE
IEEE ICC 2013 - Wireless Networking Symposium
6014
2
enhancement of data transmission cost. Ye et. al [2] exploited
the minimum-cost path for delivering packets from any sensor
to an interested client user in a large sensor network based
on the cost eld. They presented a backoff-based cost eld
setup algorithm that nds the optimal costs of all nodes to the
sink and then the message, carrying dynamic cost information,
and ows along the minimum cost path in the cost eld. In
contrast to the optimizing protocols that burn the energy of
the nodes along the optimal paths, Shah et. al [3] proposed
a new scheme which uses sub-optimal paths of transmission
cost (i.e., transmission energy consumption) occasionally to
provide substantial gains on reducing the transmission cost
and extending the network lifetime. Compared with the above
work which considers only one parameter, Dai et. al [4]
investigated the problem of the bounded-delay minimum-cost
path, which considers both message delay and transmission
cost, and designed an improved heuristic algorithm for solving
the problem. With combination of overall energy consumption
and the network lifetime, Tu et. al [5] presented a compre-
hensive cost function, which takes into account other costs
such as queueing delay and congestion, formulated and solved
the problem of minimizing the overall cost with a lifetime
guarantee. An et. al [6] maximized the network lifetime and
derived the optimal paths for data transmission. However, for
transmitting given data, the existing schemes degrade to the
suboptimal solution of the overall transmission cost because
those schemes were developed with different purposes instead
of minimizing the overall transmission cost of given data.
As aforementioned, the existing work having been done
on transmission cost cannot achieve the optimal transmission
cost for delivering given data from the source node to the
sink node. Thus, we propose a general and low-complexity
scheme based on minimum cost ow theory in this work. With
the proposed scheme, we mathematically calculate the proper
number of packets that going through each sensor nodes. Then
we propose the algorithms to derive the optimal paths and
the optimal data amount for each path. We also analyze the
correctness of the proposed algorithms. Extensive simulation
results are shown to verify the performance enhancement of
the proposed scheme.
The remainder of this paper is organized as follows. In
Section II, we describe the system model and mathematically
formulates the problem. We design efcient algorithms to
achieve the optimal results in Section III. Simulation results
are given in Section IV. Finally, we conclude the paper in
Section V.
II. PROBLEM DESCRIPTION
A. Energy Dissipation Model
Due to sensor node failure caused by energy depletion,
available paths between the source node and the sink node
becomes increasingly scarce over the whole lifetime of the
network. Here, we introduce the First Order Radio (FOR)
model [6][8] to calculate the energy consumption of sensor
nodes. In this model, the consumed energy of the transmitter
to deliver a B-bit packet over distance T can be calculated as
c
tx
= (e
tx
+e
d
T
n
) B, (1)
where e
tx
is the energy/bit consumed by the transmitter elec-
tronics, and e
d
represents the energy/bit/distance
n
dissipated
in the transmit op-amp. n is the power index for the channel
path loss of the antenna, which depends on the radio frequency
environment. On the receiving side, the amount of energy
that is required to capture the incoming radio signal can be
calculated as
c
rx
= e
rx
B, (2)
where e
rx
is the energy/bit consumed by the receiver electron-
ics.
Further, a WSN can be modeled as an undirected graph
G(V, E), where V and E are the node set and the link set,
respectively. A link (u, v) exists if, and only if, nodes u and
v can communicate with each other directly. In this work, the
truncated automatic repeat request (ARQ) protocol, which has
also been used in [9], [10], is adopted to guarantee the quality
of data transmission. Without losing generality, we assume that
the average number of retransmission times between node u
and its neighboring nodes is /
u
, and all data packets are of
the same size of B bits. Suppose node u relays a B-bit packet
from node v
1
to node v
2
, then the energy consumption of node
u can be calculated according to Eqs.(1) and (2) as
c
0
=(c
tx
+c
rx
) /
u
=(e
tx
+e
d
T
n
+e
rx
) B /
u
. (3)
Let c
u
represent the available energy of node u, then the
number of packets that can be delivered by node u can be
predicted by
|(u) =

c
u
c
0

, (4)
where | denotes the ooring operation. We also assume
that the source and sink nodes are equipped with much more
energy compared to relay nodes. This is reasonable from the
cost-effective perspective.
B. Minimum Overall Transmission Cost Problem
Available minimum cost paths between the source node
s and the sink node t determine the overall transmission
cost of the given data that are generated by node s over
a long period of time. Considering that the given data may
be transmitted periodically, here we study the typical case in
which the transmission costs associated with the links are time-
invariant. For instance, distance and number of hops are two
typical time-invariant costs. Due to limited energy supply, the
maximum number of packets going through a given path is
restricted by the node with the minimum available energy. Let

1
,
2
, ,
k
be all the paths between s and t, where
i
is a path in G(V, E) (1 i k). Then, the maximum number
of packets going through path
i
can be computed as
|(
i
) = min
ui
|(u) . (5)
In graph G(V, E), two nodes u and v are called connected if
G(V, E) has at least one path between them. Otherwise, they
are called disconnected.
6015
3
Dention 1: A st node-cut V
cut
is a set of nodes except s
and t satisfying that, if these nodes are removed, nodes s and
t are disconnected [11]. The weight of a st node-cut V
cut
is
dened as
((V
cut
) =

uVcut
|(u). (6)
Thus, the minimum weight of the st node-cuts can be denoted
as (
min
, which can be derived by using the Ford-Fulkerson
algorithm [11]. According to max-ow min-cut theorem [6],
[11], [12], this weight serves as the upper bound for the
number of packets that can be delivered from the source node s
to the sink node t. In this work, we focus on a general problem
of transmitting given (
0
packets from the source node s to the
sink node t with 0 < (
0
(
min
. Specically, we choose the
optimal path for each packet under the constraint of delivering
all the (
0
packets from the source node to the sink node. Dene
c(u, v) the cost of link (u, v) of each packet, then the path cost
of
i
can be calculated as
c(
i
) =

(u,v)i
c(u, v). (7)
For notation convenience, denote the number of packets
going through
i
by h(
i
), where h(
i
) |(
i
). Thus,
the minimum overall transmission cost (MOTC) problem is
to determine h(
i
) such that the overall transmission cost
of delivering the (
0
packets is minimized, which can be
formulated mathematically as
min
k

i=1
h(
i
) c(
i
) (8)
s.t.:

i=1
h(
i
) x
iv
|(v) for each v V
k

i=1
h(
i
) = (
0
where x
iv
= 1 if node v is on
i
; otherwise, x
iv
= 0 (1
i k). In this problem, h(
i
) = 0 implies that path
i
is not
selected for data transmission.
III. OPTIMAL SOLUTION
To facilitate the application of the ow theory, we rst
introduce the network conversion, which is rstly described
in our previous work [6] and describes the procedure of
converting an undirected graph into a directed one. The details
are shown in Algorithm 1, where /is a large positive number
larger than max
uV
|(u). In the following sections, for given
(
0
packets, we develop algorithms for deriving the optimal
paths and the optimal packet amount for each arc in G(N, A),
and further obtain the optimal data transmission scheme.
A. Determining Data Amount for Each Arc
Initialization: For each u, v) A, let g(u, v) represent
the current maximum number of packets that can ow from
node u to node v. First, we initialize g(u, v) = |(u, v).
According to Algorithm 1, arcs u, v) and v, u) cannot appear
simultaneously in G(N, A). For conveniences, we can add a
Algorithm 1:
Require: G(V, E), |(u) for each u V and c(u, v) for
each (u, v) E
1: Create graph G(N = , A = )
2: for each u V do
3: N = N u
in
, u
out
;
4: A = A u
in
, u
out
);
5: cu
in
, u
out
) = 0;
6: |(u
in
, u
out
) = |(u);
7: end for
8: for each (u, v) E do
9: A = A u
out
, v
in
), v
out
, u
in
).
10: cu
out
, v
in
) = cv
out
, u
in
) = c(u, v).
11: |(u
out
, v
in
) = |(v
out
, u
in
) = /.
12: end for
Fig. 2. The algorithm for converting undirected network G(V, E) to directed
one G(N, A).
new arc v, u) in G(N, A) for each u, v) A and initialize
g(v, u) = 0.
The main idea of our algorithm is to nd the minimum cost
path
i
using the Dijkstras Shortest Path (DSP) algorithm
each time. And update g(u, v) and g(v, u) constantly by
g(u, v) = g(u, v) and g(v, u) = g(v, u)+, respectively,
where packets are delivered from u to v and the value of
is determined by the minimum cost path
i
. During the
implementation of the DSP algorithm, we only consider the
arcs u, v) with g(u, v) > 0. The given data amount, i.e., (
0
,
of G(N, A) is achieved when (
0
. As for Problem Eq.(8),
the rst condition is satised because g(u, v) is always smaller
than |(u, v), and the second condition is met when (
0
= 0.
The details of this algorithm are described in Figure 3.
Algorithm 2:
Require: (
0
, G(N, A)
1: for each arc u, v) in A do
2: g(u, v) |(u, v)
3: g(v, u) 0
4: end for
5: while (
0
> 0 do
6: Find the minimum cost path
i
from s to t in
G(N, A) using the DSP algorithm.
7: min

min
u,vi
g(u, v) , (
0

8: for each arc u, v) on

i
do
9: g(u, v) g(u, v)
10: g(v, u) g(v, u) +
11: end for
12: (
0
= (
0

13: end while
Fig. 3. The algorithm for deriving packet amounts of arcs.
Computational complexity: Since (
0
is the given data
amount and the DSP algorithm runs O([N[
2
) time to nd
the minimum cost path
i
and is at least 1, the runtime of
Algorithm 2 is upper bounded by O((
0
[N[
2
), where [N[ is
6016
4
the number of nodes in N.
B. Deriving the Optimal Data Transmission Scheme
After running Algorithm 2, we derive a value of packet
amount for each arc in G(N, A). Based on the number
of packets on each arc, an algorithm is developed to nd
the optimal paths in G(V, E), together with determining the
optimal packet amounts for these paths. For u, v) A,
r(u, v) = |(u, v) g(u, v) is the number of packets that
have gone through arc u, v). For each (u, v) E, we have
two corresponding arcs u
out
, v
in
) and v
out
, u
in
) in A. Thus,
the number of packets that have gone through (u, v) E can
be calculated as
h(u, v) = [r(u
out
, v
in
) r(v
out
, u
in
)[. (9)
Now we can add a new weight of h(u, v) on each link (u, v)
E. Based on that, we propose Algorithm 3, shown in Figure 4,
for deriving the optimal data transmission scheme.
Algorithm 3:
Require: (
0
, G(V, E) and G(N, A), g(u, v) for each
u, v) A
1: T :=
2: for each (u, v) in E do
3: g(u, v) [r(u
out
, v
in
) r(v
out
, u
in
)[;
4: end for
5: Delete all links (u, v) of h(u, v) = 0 from G(V, E);
6: while (
0
> 0 do
7: Find the optimal path
i
from s to t in G(V, E) with
the DSP algorithm.
8: min
(u,v)i
h(u, v)
9: for each (u, v) on
i
do
10: h(u, v) h(u, v)
11: end for
12: (
0
= (
0
;
13: Delete all links (u, v) with h(u, v) = 0 on path
i
;
14: Put the 2-tuple (
i
, ) into T;
15: end while
Fig. 4. The algorithm for deriving the optimal data transmission scheme.
For computational complexity, adding weight h(u, v) to
the graph G(V, E) takes O([E[) time. Further, deriving the
minimum cost path using the DSP algorithm takes O([V [
2
)
time. Since at least one link is deleted after one minimum cost
path is found, the DSP algorithm runs at most [E[ times. Thus,
the computational complexity of searching for the optimal data
transmission scheme is O([E[) +O([V [
2
[E[) = O([V [
2
[E[).
For the theoretical performance of Algorithms 2 and 3, the
following proposition is given:
Proposition 1: Suppose a set of 2-tuples (
i
, h(
i
))
l
i=1
achieve the minimum transmission cost of ( with ( =
l

i=1
c(
i
) h(
i
) < (
0
. Let = 1 be one packet going through
the minimum cost st path
l+1
. Then
i

l+1
i=1
achieves the
minimal cost of (

= ( + with (

=
l

i=1
c(
i
) h(
i
) +
c(
l+1
).
Due to the limited space, we omit the proof and refer the
reader to [11]. This proposition guarantees that our proposed
algorithm can nd the optimal solution of overall transmission
cost for given data.
IV. PERFORMANCE EVALUATION
During the simulations, we randomly distribute sensor nodes
in a 100100m
2
area, where the coordinates of the source
node s and the sink node t are (0, 50) and (100, 50), respec-
tively. The initial energy of each node is set equal to 0.5J.
The energy consumption for the transmitting is set equal to
50nJ/bit, transmitting amplier 100pJ/bit/m
2
and the receiving
circuitry 50nJ/bit. Source node s generates the xed 2000-bit
packets of the collected data and transits them to node t via
the chosen multi-hop paths. In this work, we generalize the
concept of link cost, which can be anything of time-invariance.
To achieve this, random numbers in the range of [0, 1] are gen-
erated to represent the costs of links. We compare our proposed
scheme (Proposed) with the routing algorithms of minimum
cost forwarding (MCF) [2], energy aware routing (EAR) by
replacing transmission energy by transmission cost [3], and
minimum cost problem with a network lifetime guarantee
(MCPLG) [5]. In the following, we illustrate the performance
of our proposed scheme with two sets of experiments: the
rst set is devised for evaluating the overall transmission
cost achievements by compared with above three schemes;
the second set is to illustrate our proposed scheme can also
increase the number of packets transmitted successfully from
the source node s to the sink node t.
As for overall transmission cost, we run the rst set of
experiments on the network, in which 100 relay nodes are
randomly deployed in the 100100m
2
area, with (
0
= 1000,
5000 and 9000 packets under difference radii. We allow the
communication radii to change from 30m to 70m for each
set of simulations, at a 10m step size. In order to reect the
changes of the overall transmission costs under differen given
data, we dene the average cost per packet, c
avg
((
0
), which
can be calculated as
c
avg
((
0
) =
Q((
0
)
(
0
, (10)
where Q((
0
) is the overall transmission cost of transmitting
(
0
packets. It is observed in Figure 5 that our proposed
scheme outperforms the compared schemes signicantly in
term of the average cost per packet and thus the overall
transmission cost for all (
0
= 1000, 5000 and 9000. As (
0
increases, more and more performance gains are achieved.
Compared with the MCF, EAR and MCPLG, our proposed
scheme achieves only 0.67%, 47.51% and 1.68% gains by
average at (
0
= 1000, but makes around 4.81%, 25.06% and
8.49% gains by average at (
0
= 5000 and signicant 16.42%,
16.90% and 20.32% gains by average at (
0
= 9000. This
implies that our proposed scheme works especially well for
allocating the data for available paths over the whole lifetime
of the network.
The second set of experiments is devised for evaluating
the lifetime improvement of our proposed scheme on the net-
works, where 60, 70, 80, 90 and 100 relay nodes are randomly
6017
5
30 40 50 60 70
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
Communication Radius: m
A
v
e
r
a
g
e

C
o
s
t

P
e
r

P
a
c
k
e
t
:

c
a
v
g
Proposed
MCF
EAR
MCPLG
(a) C
0
= 1000
30 40 50 60 70
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Communication Radius: m
A
v
e
r
a
g
e

C
o
s
t

P
e
r

P
a
c
k
e
t
:

c
a
v
g
Proposed
MCF
EAR
MCPLG
(b) C
0
= 5000
30 35 40 45 50 55 60 65 70
0.4
0.5
0.6
0.7
0.8
0.9
1
1.1
Communication Radius: m
A
v
e
r
a
g
e

C
o
s
t

P
e
r

P
a
c
k
e
t
:

c
a
v
g
Proposed
MCF
EAR
MCPLG
(c) C
0
= 9000
Fig. 5. Comparison of the average transmission cost per packet of our proposed scheme vs. the MCF, EAR and MCPLG in the wireless sensor network
with different node transmission radii.
60 65 70 75 80 85 90 95 100
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
x 10
4
Node Number
P
a
c
k
e
t

N
u
m
b
e
r
Proposed
MCF
EAR
MCPLG
Fig. 6. Comparison of the maximum number of packets that are successfully
transmitted using our proposed scheme on the wireless sensor network of
different number of relay nodes.
deployed on the 100100m
2
area, respectively. We keep run-
ning the system until it reaches its lifetime, i.e. no more path
is available between s and t due to depleted energy. As shown
in Figure 6, our proposed scheme signicantly increases the
number of packets, that are transmitted successfully between
the source node s and t, compared to the MCF, EAR and
MCPLG. As for the number of successfully relayed packets,
our proposed scheme can increase up to 50.98%, 30.92% and
53.51% of the number of packets by average, respectively,
compared to the MCF, EAR and MCPLG. This performance
improvement is achieved by the back-ow strategy because it
can allocate proper amount of data for each path and thereby
maximize the number of successfully relayed packets. This
illustrates that our proposed scheme cannot only reduce the
overall transmission cost of the given data generated by the
source node over a long period of time, but also can efciently
improve the network capability of relaying much more data.
V. CONCLUSIONS
Overall transmission cost minimization is one of the major
challenges for the applications of wireless sensor networks.
In this work, we have considered an optimization problem
of minimizing the overall transmission cost of given data in
energy-limited wireless sensor networks. We have formulated
the problem on the basis of the minimum cost ow theory and
have also discussed the upper bound for the number of packets
that can be successfully relayed from the source node to the
sink node. Then, our algorithms have been proposed to derive
the optimal paths and the optimal data amount for each path.
Extensive simulation results have proved the effectiveness of
the proposed method.
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