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Chapter 15 Information Forwarding and Tra?±c Engineering
Similar results are shown with real sensors in Figure 8. Here, the desired
trajectory is shown in thick white whereas the estimated and followed routing
path is shown in a slim black line. The routing path is found in real time.
Fig. 8. Mica2 Sensor Node Test Bed. Maximum Radio Transmission range set to
10cm. at a radio power of -19dBm. The processor is an ATmega128 powered by
two AA batteries. The radio is a CC1000 chip. The node draws 17?µA of current
during sleep mode. Application of TE-Routing utilizes a simple CRC transmission
component, the routing protocol, and a test application which transmits the source??™s
battery power.
4.4 Related Work
Niculescu and Nath were the first to introduce trajectory-based routing, discussing
its basic features in [14, 15, 16]. Our contributions are to how the
trajectory is encoded (B-Spline and checkpoints) and to the reduced computation
on each participating node by introduction of the adaptive search
window.
In [31], the authors propose the use of a Bezier parametric curve for a
trajectory-based source routing in ad hoc networks. However, crucial issues
particular to sensor networks were not taken into account, such as power constraints
and low complexity. Moreover, the problem of finding the nodes that
are the closest to the trajectory is highly nonlinear and becomes computationally
intensive and even prohibitive considering Bezier curves with higher order
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