Routing Algorithms for Wireless Sensor Networks

Artemis Paradisi Jacques Tiberghien

- RPL: IPv6 Routing protocol for low power and lossy networks.

IPv6 on Low Power and Lossy Networks?

Applications TCP/UDP IPv6 MAC&PHY Applications
E F

The Internet

C D

TCP/UDP RPL 6LowPan IEEE 802.15.4

The LowPower network is just one subnet The sink node plays the role of a router
3

6LowPan Why ?
TCP/UDP RPL 6LowPan IEEE 802.15.4 3
001

13
TLA

8
res

IPv6 address : 24 18
NLA SLA

64
INT

Frame length : IPv6: <= 1280 bytes; IEEE 802.15.4: <= 81 bytes. Frame fragmentation & defragmentation Header length : IPv6 header >= 40 bytes; TCP header = 20 bytes, No version field, no flow label, One subnet : 64 instead 128 bit addresses, Header compression Connectivity inside the subnet : Single broadcast domain vs. multi-hop connectivity Route-over architecture
4

6LowPan Why ?
IPv6 : One subnet = one broadcast domain This is not true in LowPans! Solutions : - Link level routing - Routing in the subnet ! A Route over uses simplified versions of IPv6 ND protocols.
E

The Internet

B F

C D G H

Routing Protocol for Low Power and Lossy Networks

RPL origin: The Internet of things. IETF working group for IPv6 routing. None of the existing protocols is adequate! New design combining interesting ideas of all. RPL Basic Mechanisms Routing based upon one or more Destination Oriented Directed Acyclic Graphs (DODAGs) Optimal routes between sink and all other nodes for both the collect and distribute data traffics. Redundant equivalent routes are kept for reliability in case of link or node failure. Multiple DODAGs if different optimisation criteria.
6

RPL: the DODAG

For node G, D,H,L are neighbors D is preferred parent
1 Floating DAG B C 1 F G 1 A

1
D

Grounded 1 DODAG E 1 H 1 I

Each link has a cost. (distance, latency, ETX, ) This cost can be augmented with node related data (battery state, )

For node I, E is a parent G & H are siblings

The ETX cost function

ETX = Estimated number of transmissions from x to y. = Number of times a frame needs to be transmitted over a link before being acknowledged. = (dxy x dyx) -1 dxy = success rate from x to y. Each node broadcasts precisely once per second a short message, each receiver counts during 10 seconds the number of broadcasts it receives from each neighbor.

dxy = (number of frames received from x by y) / 10

What about RDC ?
8

RPL: the RANK of nodes in a DODAG

For node G, D,H,L are neighbors D is preferred parent
1 Floating DAG B C 1 F G A

1
D

Grounded 1 DODAG E 1 H 1 I

Rank = 1.0 Rank = 2.0 For node I, E is a parent G & H are siblings

RPL: the RANK of nodes in a DODAG

For node G, If route via a sibling (H) is better , then it should increase its rank.
A 1 C 1 5 G 3 1

1
D 1

Grounded 1 DODAG E 1 1 H 2 1 I 2 For node I, E is a parent G & H are siblings

10

RPL:
Messages for routing

A 1 Floating DAG B

1
D

Grounded 1 DODAG

DIO

DIS

C 1

E 1 H 1 I

11

DAO

RPL:
Collect, Distribute and P2P routing
Collect
A 1 C 1 G 1 D 1 H 1 E 1 I 1 C 1 G

Distribute
A

P2P
A

1
D

1 E 1 H 1 I

1 C 1 G

1
D

1 E 1 H 1 I

12

Routing in sensor networks(1).

For this example, links have a distance as in DV and AODV. The Rank calculations are made so that Rank = hop count D
1
1

The Internet
A 0/0

B
1

1
3

C
3 1

E
1

F
1 1

4 1 3

H
1 1

13

Routing in sensor networks(2).

A sends DIO to B and E. A becomes their preferred parent.
C
3 3 1

The Internet
A 0/0

B 1/4

1
E 1/1

1 1

D
1

F
1 1

4 1 3

H
1 1

14

Routing in sensor networks(3).

B sends DIO to A,C,F,G and K. A ignores (rank). B becomes the parent of all others.
3

The Internet
A 0/0

B 1/4

1
3

C 2/5

1
E 1/1

1 1
F 2/5

1
G 2/7

D
1

4 1 1
K 2/8

H
1 1

1 1

1 3

15

Routing in sensor networks(4).

E sends DIO to A,F,I and J. A ignores (rank). E becomes the parent of F,I and J.
C 2/5

The Internet
A 0/0

B 1/4

1
3

1
E 1/1

1 1
F 2/2

1
G 2/7

D
1

4 1 1
K 2/8

H
1 1

1
I 2/2

1 1
J 2/2

1 3

16

Routing in sensor networks(5).

C sends DIO to B,D and G. B ignores (rank). C becomes the parent of D and G.
C 2/5
D 3/8

The Internet
A 0/0

B 1/4

1
3

3 1
G 3/6

1
E 1/1

1 1
F 2/2

4 1 1
K 2/8

H
1 1

1
I 2/2

1 1
J 2/2

1 3

17

Routing in sensor networks(6).

F sends DIO to B,E and K. B and E ignore (rank), F becomes parent of K.
C 2/5

The Internet
A 0/0

B 1/4

1
3

3 1
G 3/6

1
E 1/1

1 1
F 2/2

D 3/8

4 1 1
K 3/3

H
1 1

1
I 2/2

1 1
J 2/2

1 3

18

Routing in sensor networks(7).

I sends DIO to E and J. E ignores (rank), J ignores (distance)
C 2/5

The Internet
A 0/0

B 1/4

1
3

3 1
G 3/6

1
E 1/1

1 1
F 2/2

D 3/8

4 1 1
K 3/3

H
1 1

1
I 2/2

1 1
J 2/2

1 3

19

Routing in sensor networks(8).

J sends DIO to E,I and K. E ignores (rank), I and K ignore (distance)
C 2/5

The Internet
A 0/0

B 1/4

1
3

3 1
G 3/6

1
E 1/1

1 1
F 2/2

D 3/8

4 1 1
K 3/3

H
1 1

1
I 2/2

1 1
J 2/2

1 3

20

Routing in sensor networks(9).

D sends DIO to C and H. C ignores (rank), D becomes parent of H
C 2/5

The Internet
A 0/0

B 1/4

1
3

3 1
G 3/6

1
E 1/1

1 1
F 2/2

D 3/8

1
H 4/9

4 1 1
K 3/3

1
I 2/2

1 1
J 2/2

1 3 1

21

Routing in sensor networks(10).

G sends DIO to B,C,H and K. B and C ignore (rank), K ignores (distance) G becomes parent of H.
C 2/5
D 3/8

The Internet
A 0/0

B 1/4

1
3

3 1
G 3/6

1
E 1/1

1 1
F 2/2

1
H 4/7

4 1 1
K 3/3

1
I 2/2

1 1
J 2/2

1 3 1

22

Routing in sensor networks(11).

K sends DIO to B,F,G,J and L. B,F and J ignore (rank), K becomes parent of G and L.
C 2/5

The Internet
A 0/0

B 1/4

1
3

3 1
G 4/4

1
E 1/1

1 1
F 2/2

D 3/8

1
H 4/7

4 1 1
K 3/3

1
I 2/2

1 1
J 2/2

1 3
L 4/6

1 1

23

Routing in sensor networks(12).

G sends DIO to B,C,H and K. B,C and K ignore (rank), H adapts its rank and distance and keeps G as a parent
3 1
G 4/4 D 3/8

The Internet
A 0/0

B 1/4

1
3

C 2/5

1
E 1/1

1 1
F 2/2

1
H 5/5

4 1 1
K 3/3

1
I 2/2

1 1
J 2/2

1 3
L 4/6

1 1

24

Routing in sensor networks(13).

L sends DIO to K,H and M. K ignores (rank), H ignores (distance) L becomes parent of M
C 2/5
D 3/8

The Internet
A 0/0

B 1/4

1
3

3 1
G 4/4

1
E 1/1

1 1
F 2/2

1
H 5/5

4 1 1
K 3/3

1
I 2/2

1 1
J 2/2

1 3
L 4/6

1 1
M 5/7

25

Routing in sensor networks(14).

H sends DIO to D,G,L and M. D,G and L ignore (rank), H becomes parent of M
C 2/5

The Internet
A 0/0

B 1/4

1
3

3 1
G 4/4

1
E 1/1

1 1
F 2/2

D 3/8

1
H 5/5

4 1 1
K 3/3

1
I 2/2

1 1
J 2/2

1 3
L 4/6

1 1
M 6/6

26

Routing in sensor networks(15).

Finally, the entire DODAG has been constructed.

The Internet
A 0/0

B 1/4

1
3

C 2/5

3 1
G 4/4

1
E 1/1

1 1
F 2/2

D 3/8

1
H 5/5

4 1 1
K 3/3

1
I 2/2

1 1
J 2/2

1 3
L 4/6

1 1
M 6/6

27

Routing in sensor networks(1).

For this example, links have a distance as in DV and AODV. The Rank calculations are made so that Rank = Distance to sink
3 1 3 1

The Internet
A 0
1 4

D
1

E
1

F
1 1

4 1 3

H
1 1

28

Routing in sensor networks(2).

A sends DIO to B and E. A becomes their preferred parent.
C
3 3 1

The Internet
A 0
1 4

B 4
1

D
1

E 1
1

F
1 1

4 1 3

H
1 1

29

Routing in sensor networks(3).

E sends DIO to A,F,I and J. A ignores (rank). E becomes parent F,I and J.
C
3 3 1

The Internet
A 0
1 4

B 4
1

D
1

E 1
1

F 2
1 1

4 1 3

H
1 1

I 2

J 2

30

Routing in sensor networks(4).

F sends DIO to B,E and K. E ignores (rank). F becomes parent of B and K.
C
3 3 1

The Internet
A 0
1 4

B 3
1

D
1

E 1
1

F 2
1 1

4 1

H
1 1

1 3

I 2

J 2

K 3

31

Routing in sensor networks(5).

B sends DIO to A,C,F,G and K. A and F ignore (rank). B becomes parent of C and G. K keeps its previous parent (distance).
3 1

The Internet
A 0
1 4

B 3
1

1
3

C 4

D
1

E 1
1

F 2
1 1

4 1

G 6

H
1 1

1 3

I 2

J 2

K 3

32

Routing in sensor networks(6).

K sends DIO to B,F,G,J and L. J ignores (rank), B ignores (distance), K becomes parent of G and L.
C 4
1 3

The Internet
A 0
1 4

B 3
1

1
3

D
1

E 1
1

F 2
1 1

4 1

G 4

H
1 1

1 3

I 2

J 2

K 3

L 6

33

Routing in sensor networks(7).

C sends DIO to B,D and G. B ignores (rank), G ignores (distance), C becomes parent of D.
C 4
1 3

The Internet
A 0
1 4

B 3
1

1
3

D 7
1

E 1
1

F 2
1 1

4 1

G 4

H
1 1

1 3

I 2

J 2

K 3

L 6

34

Routing in sensor networks(8).

G sends DIO to B,C,H and K. B and K ignore (rank), C ignores (distance), G becomes parent of H.
C 4
1 3

The Internet
A 0
1 4

B 3
1

1
3

D 7
1

E 1
1

F 2
1 1

4 1

G 4

H 5
1 1

1 3

I 2

J 2

K 3

L 6

35

Routing in sensor networks(9).

H sends DIO to D,G,L and M. G ignores (rank), L ignores (distance), H becomes parent of D and M.
C 4
1 3

The Internet
A 0
1 4

B 3
1

1
3

D 6
1

E 1
1

F 2
1 1

4 1

G 4

H 5
1 1

1 3

I 2

J 2

K 3

L 6

M 6

36

RPL Conclusions
When the network is started up, the DODAG is build. The DODAG supports optimal routing, both for collect and distribute protocols. Protocols for detecting network changes and subsequent DODAG repairs (local and global) are part of the RPL proposal (not explained here) An Objective Function, giving the rank of the nodes in function of the properties of the links and the nodes, can freely be chosen to influence the DODAG topology and prevent loops.

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