CS-213 Advanced Topics in DISTRIBUTED EMBEDDED
Winter Quarter 2004
Time: Tuesdays and Thursdays,
Place: Moore Hall room 1003
8-10AM and by appointment (send email)
3531H Boelter Hall
An important class of distributed networks are those that support
monitoringandmanipulation of physical spaces through wireless sensor networks. Thiscoursewill
study the distributed protocols needed to realize these systems.Topicsinclude:
a) design implications of energy, and otherwiseresource-constrainednodes; b)
network self-configuration and adaptation; c)services such asrouting,localizationand timesynchronization; d)
collaborative processing and distributed featureextraction, e) tasking and
programming sensor networks.
Prerequisites: CS 118, CS
111,graduatestanding or consent of instructor
Reminder: The FINAL is March 9th, in the Boelter HallPenthouse.Take the elevator inthe corner near the CENS
office (3531) to the top floor.
Jan 8: Motivating applications,
Overviewoftechnical challenges, Class organization
(Jan 12 11:59 pm, HW0 prepare 2 reviews
and1homework problem+solution based on 3 of the intro and platform papers—at
least onefrom each set)
Jan 13: Emstar : development environment for microserver/linux-based
nodes(LewGirod, JeremyJan 15:
TinyOS:OSand programming of motes (Deepak Ganesan, Eric Osterweil)
19 ,HW1 (Emstar) due)
Jan 20: Matt Welsh (See reading at the end of programming/quering) (HW1 due)
(Jan 21 , DUE? Brief writeup with 3possible project topics
and teammembers. Identify Emstar/TOS platform)
Jan 22: Wireless connectivity field trip (Cerpa), Read measurement papers
(Jan 26 , HW2 (TOS) due)
Jan 27: MAC layer (Wei Ye)
TopologyControl/clustering/routing,Disconnected ad hoc routing ( Alberto
Cerpa)[Detailed Project writeup due inclass]
(Feb , HW3 (Emstar) due)
Feb 3: Directed diffusion/Querying/Tasking (Estrin/Osterweil).
Feb 5: Reliable transport, Custody transfer (Thanos Stathopoulos)
(Feb , HW4 (TOS) due)
Feb 10: Midterm--In class. Based on readings.
Feb 12: Time Synchronization (Jeremy Elson)
(Feb 16 , HW5 prepare 2 reviews and1 homework
problem+solution based onthe localization and signal processing papers
papers—at least one from eachset)
Feb 17: Localization (Girod)
Feb 19: Collaborative signal/informationprocessing (Hanbiao Wang)
(Feb 23 11:59 pm, HW6 prepare 2 reviews
and1homework problem+solution based on the security/integrity or
distributedrobotics papers—include at least one from each section)
Feb 24: 2-4 pm: Security/Integrity/Integirty/Calibration (Saurabh
Feb 26: Distributed robotics/actuation (Mohammad Rahimi)
(Mar 1 11:59 pm, HW7 prepare 2 reviews
and1homework problem+solution based on the authoring and storage
papers—atleastone from each set)
Mar 2: Authoring system example (Eitan Mendelowitz);Programming
Sensor Networks, NESTmaterials (Ben Greenstein)
Mar 4: Storage (Deepak Ganesan)
Mar 9: Final exam in class
Mar 11: Project presentations
March 16: Project presentations
March 23: Final project
powerpointslides, writeup, url for code due 12 noon. NO LATE PROJECTS ACCEPTED
Class attendance and participationaremandatory
(those given by the instructor as well as those given byotherstudents). Lecture
notes in the form of Powerpoint slides will beavailable formost lectures. The
course web page ishttp://cens.ucla.edu/CS213.html
30% Homework: There will be two types of homework assignments; each is due at the night before class. The systems homework will
involveprogrammingassignments under Emstar and TOS. The second type of
homeworkassignment iscomprised of two paper reviews (see review format below)
and anoriginal**quantitative**homework/exam questionand solution associated with one
or more of the papersfrom the sets indicated.
30% In class exams: There will be twoinclass
exams covering material from homeworks, readings and lectures
40% Final project: Each student will contribute to a
projectinvolvingexperimental design, implementation and a writeup. ProjectsWILL bedone in small groups (3-4 people).
No late projects or homeworks. If
youarenot done you should turn in whatever you have. I might
acceptsomeupdates/refinements, but only if you turn in a version of it on time.
This is a tentative reading list.
Papersmaybe dropped and added. I will NOT expect everyone to read all 100
papers!Foreach class there will be some required and some optional reading.
Communications of the ACM: Embedding the
Internet (Special Issue).
Embedded Everywhere: A research agenda for
networked systems of embedded computers. Computer science and
telecommunications board (CSTB) Report. http://www.cstb.org/web/pub_embedded
The Computer for the Twenty-First Century,
Scientific American,pg 94-100,
Connecting the physical world with Pervasive
Networks, D. Estrin, D. Culler, K. Pister, G. Sukhatme, IEEE Pervasive
Computing, pp 59-69, January-March 2002.
CACM Special Issue on Embedding the Internet,
Application driver for wireless communications technology, Alberto Cerpa,
Jeremy Elson, Deborah Estrin, Lewis Girod, Michael Hamilton and Jerry
ACM SIGCOMM Workshop on Data Communications in Latin America and the
Caribbean, Costa Rica, April 2001. http://lecs.cs.ucla.edu/estrin/papers/CostaRica-oct01-final.ps
Wireless sensor networks for habitat
monitoring, Alan Mainwaring, Intel Research Laboratory; Joseph Polastre,
Robert Szewczyk and David Culler, University of California, Berkeley
Platforms—hw/sw (1/13, 1/15)
Energy and Performance Considerations for Smart
Dust, L. Doherty, B. A. Warneke, B. Boser, K. S. J. Pister, International
Journal of Parallel and Distributed Sensor Networks, Dec
System architecture directions for network
sensors, Jason Hill, Robert Szewczyk, Alec Woo, Seth Hollar, David
Culler, Kristofer Pister . ASPLOS 2000. (pdf)
Active Message Communication
for Tiny Network Sensors, Jason Hill, Philip Bounadonna, David Culler,
The nesC Language: A Holistic Approach to
Networked Embedded Systems, D. Gay, P. Levis, R. von Behren, M. Welsh, E.
Brewer, D. Culler, Proceedings of Programming Language Design and Implementaiton (PLDI) 2003, June
TOSSIM: Accurateand scalable simulation of
entire TinyOS Applications, P. Levis, Lee, M. Welsh, D. Culler, ACM
To be added: HOOD paper from NEST/UCB group
Wireless Integrated Network Sensors: Low Power Systems
ona Chip. G. Asada, M. Dong, T.S.
Lin, F. Newberg, G. Pottie, W. Kaiser, H. Marcy, Proceedings of the 1998
European Solid State Circuits Conference.
Em*: A Software Environment for Developing and
Deploying Wireless Sensor Netwroks, L. Girod, J. Elson, A. Cerpa, T.
Stathopoulos, N. Ramanathan, D. Estrin, CENS Technical report #34.
Open Standard Development
Platforms for Distributed Sensor Networks, W. Merrill et al.. Sensoria
Taming the Underlying
Challenges of Reliable Multihop Routing in Sensor Networks, A. Woo, T.
Tong, D. Culler, ACM Sensys 2003, Los Angeles, November 2003
To be added: paper on
link characterization from Vanderbilt
V. Bharghavan and A. Demers and S. Shenker and
L. Zhang, "MACAW: Media Access Protocol for Wireless LANs",
Proceedings of the ACM SIGCOMM Conference, 1994
Jaap C. Haartsen, "The Bluetooth radio
system", IEEE Personal Communications Magazine, Feb, 2000, pp.
Frazer Bennett, David Clarke, Joseph B. Evans,
Andy Hopper, Alan Jones, and David Leask, "Piconet: Embedded Mobile Networking", IEEE Personal Communications
Magazine, Vol. 4, no. 5, pp.8-15 Oct., 1997
Katayoun Sohrabi and Gregory J. Pottie,
"Performance of a novel self-organization protocol for wireless ad
hoc sensor networks", Proceedings of the IEEE 50th Vehicular
Technology Conference, 1999, pp.1222-1226
Alec Woo and David Culler, "A Transmission
Control Scheme for Media Access in Sensor Networks",Proceedings of
the ACM/IEEE International Conference on Mobile Computing and Networking, Mobicom 2001, Rome, Italy.
Wei Ye, John Heidemann and Deborah Estrin,
"An energy-efficient MAC protocol for wireless sensor
networks", IEEE Infocom New York, NY, USA, June, 2002
Transmission Scheduling in Ad Hoc Networks with
Directional Antennas Lichun Bao, J.J. Garcia-Luna-Aceves. Mobicom 02
A Power Control MAC Protocol for Ad Hoc
Networks, Eun-Sun Jung, Texas A&M University, USA, Nitin Vaidya, Mobicom 02
Medium Access Control in Ad Hoc Networks Using
Directional Antennas, Romit Roychoudhury, Xue Yang, University of
Illinois at Urbana-Champaign, USA, Ram Ramanathan, BBN, USA, Nitin
Vaidya, Mobicom 02
Bluetooth and sensor networks: A Reality Check,
M. Leopold, M. Dydensborg, P. Bonnet, ACM Sensys 2003
An Adaptive Energy-Efficient MAC Protocol for
Wireless Sensor Networks, T. van Dam, K. Langendoen, ACM Sensys 2003
Practical Lazy Scheduling in Sensor Networks,
R. Kompella, A. Snoeren, ACM Sensys 2003
Span: an Energy-Efficient Coordination
Algorithm for Topology Maintenance in Ad Hoc Wireless Networks. Benjie
Chen, Kyle Jamieson, Hari Balakrishnan, and Robert Morris.To appear in
ACM Wireless Networks Journal, Volume 8, Number 5, September,
Energy-aware wireless microsensor
networks," Vijay Raghunathan, Curt Schurgers, Sung Park, Mani B.
Srivastava. IEEE Signal Processing Magazine, Volume: 19 Issue: 2, Mar
2002; Page(s): 40 -50. cs219/Papers/raghunathan02.pdf, Corresponding
author Mani Srivastava (firstname.lastname@example.org)
Seapahn Meguerdichian, Farinaz Koushanfar, Gang
Qu, Miodrag Potkonjak, "Exposure In Wireless Ad Hoc Sensor
Networks." MobiCom 2001, pp. 139-150, July 2001.
Topology: Investigating Upper Bounds on Network
Lifetime Extension for Cell-Based Energy Conservation Techniques in
Stationary Ad Hoc Networks, Douglas Blough, Georgi Institute of Technology, USA, Paolo Santi, Mobicom 02
Topology: Wake on Wireless: An Event Driven
Power Saving Strategy for Battery
Operated Devices, Eugene Shih, Massachusetts Institute of Technology, USA,
Integrated Coverage and Connectivity
Configuration in Wireless Sensor Networks, X. Wang, G. Xing, Y. Zhang, C.
Lu, R. Pless, C. Gill, ACM Sensys 2003.
Critical Density Thresholds in Distributed
Wireless Networks, B. Krishnamachari, S. Wicker, R. Bejar, M. Pearlman,
In Advances in coding and information theory, eds. H. Bhargava, H.
Poor, V. Taroakh, Kluwer publishers.
Capacity of wireless networks, P. Gupta and
P.R. Kumar, 1999
On Scalability and Source/Channel Coding
Decoupling in Large Scale Sensor Networks -- by Ameesh Pandya and Greg Pottie,
07/08/2003, under submission,
Mobility increases the capacity of ad hoc
wireless networks, M. Grossglauser and D. Tse, IEEE Infocom 2001
Distributed EM algorithms for density
estimation and clustering in sensor networks, R. Nowak, IEEE Transactions
on Signal Processing, special issue on signalprocessing in networking, 2003.
Differentiated Surveillance for Sensor
Networks, T. Yan, T. He, J. Stankovic, ACM Sensys 2003
A Coverage-Preserving Node Scheduling Scheme
for Large Wireless Sensor Networks, Di Tian and Nicolas D. Georganas,
University of Ottawa.
Bhaskar Krishnamachari, Stephen Wicker, Ramon
Bejar, and Marc Pearlman, "Critical Density Thresholds in
Distributed Wireless Networks," to appear in a book on Advances in
Coding and Information Theory, eds. H. Bhargava, H.V. Poor and V. Tarokh,
Routing and Data Transport
A Performance Comparison of Multi-hop Wireless
Ad Hoc Network Routing Protocols, J. Broch, D. Maltz, D. Johnson, Y-C.
Hu, J. Jetcheva, ACM Mobicom 2998, DallasTexas, October 1998
Routing Young-Bae Ko and Nitin H. Vaidya,
Location-Aided Routing(LAR) in Mobile Ad Hoc Networks , In Proceedings of
the Fourth Annual ACM/IEEE International Conference on Mobile Computing
and Networking (MobiCom 1998), ACM, Dallas, TX, October 1998.
Brad Karp and H. T. Kung, "GPSR: greedy
perimeter stateless routing for wireless networks," in International
Conference on Mobile Computing and Networking (MobiCom), pp. 243-254,
Geographical and Energy Aware Routing: A
Recursive Data Dissemination Protocol for Wireless Sensor Networks. Yan
Yu, Ramesh Govindan and Deborah Estrin. UCLA Computer Science Department
Technical Report UCLA/CSD-TR-01-0023, May 2001.
High-Throughput Path Metric for Multi-Hop
Wireless Routing, D. De Couto, D. Aguayo, J. Bicket, R. Morris, http://www.pdos.lcs.mit.edu/papers/grid:mobicom03/
Topology: On the
Interdependence of Routing and Data Compression in Multi-Hop Sensor
Networks, Anna Scaglione, Sergio Servetto. Mobicom 02
Modeling Data-Centric Routing in Wireless
Sensor Networks. Bhaskar Krishanamachari, Deborah Estrin and Stephen
Wicker. ICDCS Workshop DEBS'02. July 2001. Vienna, Austria
Directed Diffusion: A Scalable and Robust
Communication Paradigm for Sensor Networks", Chalermek
Intanagonwiwat, Ramesh Govindan and Deborah Estrin In Proceedings of the
Sixth Annual International Conference on Mobile Computing and Networks
(MobiCOM 2000), August 2000, Boston, Massachusetts.
Building Efficient Wireless Sensor Networks
with Low-Level Naming", John Heidemann, Fabio Silva, Chalermek Intanagonwiwat,
Ramesh Govindan, Deborah Estrin, and Deepak Ganesan. In Proceedings of
the Symposium on Operating Systems Principles, p. to appear. Lake Louise, Banff, Canada, ACM. October,
Matching data dissemination
algorithms to application requirements, J. Heidemann, F. Silva, D.
Estrin, ACM Sensys 2003
Smart-Tag Based Data Dissemination. Allan
Beaufour, Martin Leopold and Philippe Bonnet, University of Copenhagen.
A Two-tier Data Dissemination Model for
Large-scale Wireless Sensor Networks, Fan Ye, Haiyun Luo, Jerry Cheng,
Lixia Zhang, Songwu Lu, Mobicom 02
GEM: Graph Embedding for routing and data
centric storage in sensor networks without geographic information, J.
Newsome, D. Song, ACM Sensys 2003.
Trickle: A Self-Regulating Algorithm for Code
Propagation and Maintenance in Wireless Sensor Networks, P. Levis, N.
Patel, S. Shenker, D. Culler. First
USENIX/ACM Symposium on Networked Systems Design and Implementation
A Remote Code Update Mechanism for Wireless
Sensor Networks, Thanos
Stathopoulos, John Heidemann, Deborah Estrin(email@example.com),
Congestion Detection and Avoidance in Sensor Networks, C-Y. Wan, S.
Eisenman, A. Campbell, ACM Sensys 2003
Stann and John Heidemann. RMST: Reliable Data Transport in Sensor
Networks. In Proceedings of the First International Workshop on Sensor
Net Protocols and Applications, pp. 102-112. Anchorage, Alaska, USA, IEEE. April,2003. http://www.isi.edu/~johnh/PAPERS/Stann03a.pdf
W. Hong, S. Madden, "Custody Transfer for Reliable Delivery in Delay
Tolerant Networks", IRB-TR-03-030, July 2003. http://www.dtnrg.org/papers/custody-xfer-tr.pdf
Leslie Lamport, "Time, Clocks and the
Ordering of Events in Distributed Systems", Communications of the
ACM, 21(7):558-65, 1978.
David L. Mills, "Internet
Time Synchronization: The Network Time Protocol".
Fine-Grained Network Time Synchronization using
Reference Broadcasts (also available as PDF) Jeremy Elson, Lewis Girod
and Deborah Estrin. In Proceedings of
the Fifth Symposium on Operating Systems Design and Implementation (OSDI
2002), Boston, MA. December 2002. .
Wireless Sensor Networks: A New Regime for Time
Synchronization (also available as PDF) Jeremy Elson and Kay Romer,
Proceedings of the First Workshop on Hot Topics In Networks (HotNets-I),
Princeton, New Jersey. October 28-29 2002.
Kay Romer (ETH-Zurich), "Time
Synchronization in Ad Hoc Networks". Mobihoc 2001
http://www.gpsclock.com/gps.html. Web page giving an overview of using
GPS for time synchronization.
Timing-sync Protocol for Sensor Networks,
Saurabh Ganeriwal, Ram Kumar, Sachin Adlakha and Mani Srivastava, ACM
??FTSP paper (Vanderbilt)
Jeffrey Hightower and Gaatano Boriello, IEEE
Computer Magazine, Vol. 34, No. 8, pp. 57-66 . August 2001.
Special Issue on Global Positioning System,
P.Enge and P. Misra (guest editors), Proceedings of the IEEE. Vol 87.
No.1. January 1999.
Roy Want, Andy Hopper, Veronica Falcao and
Jonathan Gibbons, "The Active Badge Location System," ACM
Transactions on Information Systems, vol. 10, no. 1, pp. 91-102, January
A New Location Technique for the Active Office,
Andy Ward, Alan Jones, Andy Hopper, IEEE Personal Communications, Vol. 4,
No.5, October 1997, pp. 42-47.http://lecs.cs.ucla.edu/Courses/CS213-Win02/Readings/active-bat.pdf
RADAR: An In-Building RF-based User Location
and Tracking System", Paramvir Bahl and Venkata N. Padmanabhan, In
Proceedings of IEEE Infocom 2000, Tel-Aviv, Israel, April 2000.
Nissanka Priyantha, Anit Chakraborty and Hari
Balakrishnan, "The Cricket Location Support System," in
International Conference on Mobile Computing and Networking (MobiCom),
Boston, MA, August 2000
Robust range estimation using acoustic and
multimodal sensing", Lewis Girod and Deborah Estrin, In Proceedings
of IEEE/RSJ International Conference on Intelligent Robots and Systems
(IROS 2001), Maui, Hawaii, October 2001.
Convex Position Estimation in Wireless Sensor
Networks", Lance Doherty, Kristofer S.J. Pister and Laurent
El-Ghaoui, In Proceedings of IEEE Infocom 2001, Anchorage, Alaska, April
D. Fox, W. Burgard, H. Kruppa, and S. Thrun, "A Probabilistic Approach to
Collaborative Multi-Robot Localization", Autonomous Robots, 8(3),
The Bits and Flops of the n-hop Multilateration
Primitive for Node Localization Problems, Andreas Savvides, Heemin Park
and Mani Srivastava, University of California, Los Angeles
Localization Systems: Design and Experimental Evaluation. Nirupama
Bulusu, John Heidemann, Deborah Estrin and Tommy Tran. Submitted for
review to ACM Transactions on Embedded Computing Systems (ACM TECS),
August 2002. http://lecs.cs.ucla.edu/estrin/#paper
Schemes for Large Scale Sensor Networks" Tian He, Chengdu Huang,
Brian M. Blum, John A. Stankovic, Tarek Abdelzaher Proc. MobiCom 2003,
Distributed Algorithms for
Guiding Navigation across a Sensor Network" Qun Li, Michael De Rosa,
and Daniela Rus Proc. MobiCom 2003, pp. 313-325
Scalable Control of
Decentralised Sensor Platforms" Ben Grocholsky, Alexei Makarenko,
Tobias Kaupp, and Hugh F. Durrant-Whyte Proc. IPSN'03
Cleaning and Querying Noisy
Sensors, Eiman Elnahrawy, Badri Nath. Proc. WSNA 2003, pp.78-87
in Ad Hoc Sensor Networks" Juan Liu, Feng Zhao, Dragan Petrovic.
Proc. WSNA'03, pp. 88-97
Spatio-temporal Data Reduction with
Deterministic Error Bounds" Hu Cao, Ouri Wolfson, Goce Trajcevski.
Proc. DIALM-POMC'03, pp. 33-42
localization in wireless sensor networks: a quantitative
comparison”, Koen Langendoen, Niels Reijers, Computer Networks: The
International Journal of Computer and Telecommunications Networking, vol
43, no 4, nov 2003.
Coherent Acoustic Array Processing
and Localization on Wireless Sensor Network"J.C. Chen, L. Yip, J.
Elson, H. Wang, D. Maniezzo, R.E. Hudson, K. Yao, and D. Estrin,
Proceedings of the IEEE, Vol. 91, No. 8, August 2003
Acoustic source localization and beamforming:
theory and practice, Joe C. Chen, Kung Yao, and Ralph E. Hudson, EURASIP
Advanced Signal Processing journal. http://www.ee.ucla.edu/~jcchen/pub/chen_asp02.pdf
Detection, Classification and Tracking of
Targets in Distributed Sensor Networks", Dan Li, Kerry Wong, Yu Hen
Hu, Akbar Sayeed cs219/Papers/Sayeed-SP-data.doc Corresponding author
Akbar Sayeed (firstname.lastname@example.org),
", IEEE Signal Processing Magazine, Volume: 19 Issue: 2, Mar 2002
Localization and Beamforming in a Distributed Sensor Network: Coherent
Signal Processing for Wideband Acoustic and Seismic Signals", Joe C.
Chen, Kung Yao, Ralph Hudson
http://www.ee.ucla.edu/~jcchen/pub/chenSPmag02.pdf. Corresponding author
Kung Yao (email@example.com)
Collaborative In-Network Processing
for Target Tracking"EURASIP JASP 2004, No. 4, pp. 378-391. Juan Liu,
James Reich, and Feng Zhao
Scalable Information-Driven Sensor Querying and
Routing for ad hoc Heterogeneous Sensor Networks, M. Chu, H. Haussecker,
F. Zhao,Int'l J. of High
Performance Computing Applications, 2002.
Distributed Compression in a Dense Sensor Network",
S. Sandeep Pradhan, Julius Kusuma, Kannan Ramchandran
author Kannan Ramchadran (kannanr@EECS.Berkeley.EDU)
S. Nath, P. Gibbons, Synopsis Diffusion for
Robust Aggregation in Sensor Networks,Technical report IRP-TR-03-08, August 2003. http://www.intel-research.net/Publications/Pittsburgh/100720030821_163.pdf
Boundary Estimation in Sensor Networks: Theory
and Practice, R. Nowak, U. Mitra, IPSN 2003, http://220.127.116.11/~nowak/IPSN.pdf
Leonidas Guibas. "Sensing, Tracking and
Reasoning with Relations", IEEE Signal Processing Magazine, Volume:
19 Issue: 2, Mar 2002.
Preprocessing in a Tiered Sensor Network for
Habitat Monitoring. Hanbiao Wang, Deborah Estrin, Lewis Girod
EURASIP JASP special issue of sensor networks, September 2002.
Multiresolution storage and feature extraction
Deepak Ganesan and Deborah Estrin, "Dimensions: Why do we need a new
Data Handling architecture for Sensor Networks?," in First Workshop
on Hot Topics in Networks (Hotnets-I), vol. 1, October 2002.
Deepak Ganesan, Ben
Greenstein, Denis Perelyubskiy, Deborah Estrin and John Heidemann, An
Evaluation of Multi-resolution Storage for Sensor Networks In Proceedings
of the First ACM Conference on Embedded Networked Sensor Systems (SenSys
Database querying (to be updated) Querying the
Physical World, Philippe Bonnet, J. E. Gehrke, and Praveen Seshadri, IEEE
Personal Communications, Vol. 7, No. 5, October 2000, pages 10-15.
Special Issue on Smart Spaces and Environments
GADT: A Probability Space ADT for Representing
and Querying the Physical World, Anton Faradjian, J. E. Gehrke, and
Philippe Bonnet, In Proceedings of the 18th International Conference on
Data Engineering (ICDE 2002), San Jose, California, February 2002.
Joseph M. Hellerstein and Ron Avnur. Eddies:
Continuously Adaptive Query Processing. In SIGMOD 2000.
TAG: Tiny AGgregate Queries in Ad-Hoc Sensor
Networks", Sam Madden, Michael J. Franklin, Joseph Hellerstein, and
Wei Hong. OSDI, December 2002.
Query and programming Data centric storage
Sylvia Ratnasamy, Deborah Estrin, Ramesh Govindan, Brad Karp, Scott
Shenker, Li Yin, Fang Yu, Data-centric storage in Sensornets , First
Workshop on Sensor Networks and Applications (WSNA), October 2002,
Data-centric storage in Sensornets,"
Sylvia Ratnasamy, Deborah Estrin, Ramesh Govindan, Brad Karp, Scott
Shenker, Li Yin, Fang Yu. Submitted for review. February 1st, 2002.
P. Levis and D. Culler, Maté: a Virtual Machine
for Tiny Networked Sensors , ASPLOS, Dec 2002.
Chenyang Lu, Brian M. Blum, Tarek F.
Abdelzaher, John A. Stankovic, and Tian He, RAP: A Real-Time
Communication Architecture for Large-Scale Wireless Sensor Networks ,
IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS
2002), San Jose, CA, September 2002.
Stat-Centric Programming for Sensor-Actuator
Network Systems, J. Liu, M. Chu, J. Scalable Human-Robo Interactions in
Active Sensor Networks, A. Makarenko, T. Kaupp, H. Durrant-Whyte, , IEEE
Pervasive, Oct-Dec 2003.
Adaptive Sampling for Environmental Robotics --
by Mohammad Rahimi, Richard Pon, Deborah Estrin,William J. Kaiser, Mani
Srivastava and Gaurav S. Sukhatme, CENS Technical report 31, December
Event-Based Motiion Control for Mobile-Sensor
Networks, Z Butler, D. Rus, IEEE Pervasive October-December
V. Lumelsky, K. Harinarayan, ``Decentralized
Motion Planning for Multiple Mobile Robots: The Cocktail Party
Model". Autonomous Robots Journal No.4, 1997, 121-135.
P. Stone and M. Veloso, "Task
Decomposition, Dynamic Role Assignment, and Low-Bandwidth Communication
for Real-Time Strategic Teamwork," Artificial Intelligence, 1999.
Beckers, R., O. E. Holland and J. L. Deneubourg
(1994), "From Local Actions to Global Tasks: Stigmergy and
Collective Robotics", Artificial Life IV, Proc. of the Fourth
International Workshop on the Synthesis and Simulation of Living Systems,
R. A. Brooks and P. Maes (eds), pp. 181-189.
Barry Brian Werger, "Cooperation Without
Deliberation: A Minimal Behavior-based Approach to Multi-robot
Teams", Artificial Intelligence 110(1999) 293-320 http://robotics.usc.edu/~barry/papers/aij.ps.gz
, Daniel Rus and Gaurav Sukhatme papers
K. Marzullo. Tolerating Failures of
Continuous-Valued Sensors , ACM Transactions on Computer Systems, 8(4),
November 1990, p. 284--304.
Calibration as Parameter Estimation in Sensor
Networks, Kamin Whitehouse and David Culler, University of California, Berkeley
Colibration: A Collaborative Approach to
In-Place Sensor Calibration, Vladimir Bychkovskiy, Seapahn Megerian,
Deborah Estrin, and Miodrag Potkonjak 2nd International Workshop on
Information Processing in Sensor Networks (IPSN'03), December 2002.
SPINS: Security Protocols for Sensor Networks
Adrian Perrig, Robert Szewczyk, Victor Wen, David Culler, J. D. Tygar
Mobicom 2001. www.ece.cmu.edu/~adrian/projects/mc2001/mc2001.pdf
Y.W. Law, S. Dulman, S. Etalle and P. Havinga.
Assessing Security-Critical Energy-Efficient Sensor Networks, Department
of Computer Science, University of Twente, Technical Report
TR-CTIT-02-18, Jul 2002. http://wwwes.cs.utwente.nl/24cqet/adhoc.html
"Secure Routing in Sensor Networks:
Attacks and Countermeasures", Chris Karlof and David Wagner,
Video Sensor Networks to Nearshore Environment Monitoring, R. Holman, J.
Stanley, T. Ozkan-Haller, IEEE Pervasive, October-December 2003, pg
IrisNet: An Architecture for a worldwide sensor
web, P. Gibbons, B. Karp, Y. Ke, S. Nath, S. Seshan, IEEE Pervasive
Computing, October-December 2003, Volume 2, Number 4
platforms:(A)IPAQ/stargate linux nodes w/acoustic I/O and 802.11 commun
ications, and(B)UCB Mote/TOS based octopus for low power comm and sensor
I/Oandlinux/simulation based programming environment
Example Projects:--***These all need more definition and might change.
a.Stargate as debugnodefor mote and/or as gw to provide
web interface to a mote cloud..(Andrew?)
b.TOS-Emstarinteraction/integration:TosSim w/ Ceiling
array—Sim/Emulation capability fortiered systems such as ESS,Emstar support for
nesC code (Thanos, Jeremy)
d.Simple Routing inEmstar(AODV, DSR, other?)
e.TinydiffussionOPPalgorithm in Emstar
simpledataprocessing scheme--matt welsh spatial macros on motes/emstar
g.SCALE baseddatacollection/analysis tools
h.Data mule appandassociated mobility model support in