Ad Hoc Network Node Placement for Biconnectivity
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Solution Overview
Problem
In robotic systems, achieving self-forming, self-healing, and self-organizing multihop communications networks is challenging due to the lack of guaranteed base station presence and restrictive movement limitations, which hampers cooperation among robotic units and makes it difficult to maintain connectivity.
Innovation Solution
The method involves identifying and moving nodes within an ad hoc network to form biconnected configurations, either by determining new positions for nodes to remove cutvertices or by moving nodes towards a geographic center, thereby enhancing network fault tolerance and connectivity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If nodes are allowed to move freely in an ad hoc network, then network connectivity and cooperation among robotic units improve, but network stability and guaranteed base station presence deteriorate
Solution Approach 1:
The robotic nodes autonomously determine their own movement decisions based on network connectivity requirements. Each node evaluates its position relative to others and self-determines whether movement would improve overall network biconnectivity, eliminating the need for centralized base station coordination
Solution Approach 2:
The network topology dynamically adapts as nodes move and reposition themselves. The system transitions from static base station-dependent connectivity to dynamic node-driven connectivity, where the network structure continuously reconfigures to maintain biconnectivity through node relocation
2Stability of the object's composition
If robotic nodes are restricted in movement to maintain base station communication range, then network stability improves, but task execution capability and cooperation among robotic units deteriorate
Solution Approach 1:
The patent extracts the base station from the network architecture entirely, transitioning from a centralized base station model to a distributed ad hoc network. This removal eliminates the communication range constraints that limited node movement while maintaining network stability through biconnectivity
Solution Approach 2:
The network is segmented into autonomous nodes that independently make movement decisions rather than being constrained by a single base station. Each node operates semi-autonomously, evaluating its own position and movement needs based on overall network connectivity requirements
3Adaptability or versatility
If ad hoc network protocols are designed to be completely transparent to applications, then extended applicability across different platforms improves, but the ability to anticipate and cooperate with application behavior deteriorates
Solution Approach 1:
The network protocol incorporates feedback mechanisms where nodes exchange information about their positions, movements, and connectivity status. This feedback enables the network to anticipate application needs and dynamically adjust topology to support task execution while maintaining platform compatibility
Solution Approach 2:
Nodes perform preliminary assessments of potential movements before executing them, evaluating how proposed movements will affect overall network connectivity. This preliminary action allows the network to proactively maintain biconnectivity and cooperate with application requirements rather than reacting passively
4Reliability
If nodes are moved to achieve biconnectivity, then fault tolerance and network resilience improve, but network complexity and coordination requirements worsen
Solution Approach 1:
Each node independently evaluates its local position and connectivity relationships with neighboring nodes to determine movement decisions. This local assessment approach achieves global biconnectivity without requiring complex centralized coordination, as each node makes decisions based on its immediate network environment
Data Source
AI summary
A system may place nodes (110) within a non-biconnected network (100) that includes multiple interconnected nodes (110) to achieve biconnectivity within the network (100) and transform the network (100) from a non-biconnected one to a biconnected one. A non-biconnected network is one that necessarily becomes partitioned into two or more disconnected networks if a node in a critical position (termed a “cutvertex” node) should fail or otherwise become unavailable. A biconnected network is one that includes at least one additional network link (sometimes termed an “edge”) between nodes belonging to each of the otherwise potentially disconnected networks for the purpose of maintaining network communication therebetween if and when the cutvertex node fails or otherwise becomes unavailable. To achieve biconnectivity, the system may identify one or more nodes (110) to move and determine the direction and distance to move the one or more nodes (110). The system may then move the one or more nodes (110) in the determined direction and distance to transform the non-biconnected network (100) to a biconnected one.