Table of contents

Part I - Self-Organization

1 Introduction to Self-Organization

1.1 Understanding self-organization
1.2 Application scenarios for self-organization

2 System Management and Control – A Historical Overview

2.1 System architecture
2.2 Management and control

2.2.1 Centralized control
2.2.2 Distributed systems
2.2.3 Self-organizing systems

3 Self-Organization – Context and Capabilities

3.1 Complex systems
3.2 Self-organization and emergence
3.3 Systems lacking self-organization

3.3.1 External control
3.3.2 Blueprints and templates

3.4 Self-X capabilities
3.5 Consequences of emergent properties
3.6 Operating self-organizing systems

3.6.1 Asimov’s Laws of Robotics
3.6.2 Attractors

3.7 Limitations of self-organization

4 Natural Self-Organization

4.1 Development of understandings
4.2 Examples in natural sciences

4.2.1 Biology
4.2.2 Chemistry

4.3 Differentiation self-organization and bio-inspired

4.3.1 Exploring bio-inspired
4.3.2 Bio-inspired techniques
4.3.3 Self-organization vs bio-inspired

5 Self-Organization in Technical Systems

5.1 General applicability

5.1.1 Autonomous systems
5.1.2 Multi-robot systems
5.1.3 Autonomic networking
5.1.4 Mobile Ad Hoc Networks
5.1.5 Sensor and Actor Networks

5.2 Operating Sensor and Actor Networks

6 Methods and Techniques

6.1 Basic methods

6.1.1 Positive and negative feedback
6.1.2 Interactions among individuals and with the environment
6.1.3 Probabilistic techniques

6.2 Design paradigms for self-organization

6.2.1 Design process
6.2.2 Discussion of the design paradigms

6.3 Developing nature-inspired self-organizing systems
6.4 Modeling self-organizing systems

6.4.1 Overview of modeling techniques
6.4.2 Differential equation models
6.4.3 Monte Carlo simulations
6.4.4 Choosing the right modeling technique

Appendix I Self-Organization – Further Reading

Part II - Networking Aspects: Ad Hoc and Sensor Networks

7 Mobile Ad Hoc and Sensor Networks

7.1 Ad hoc networks

7.1.1 Basic properties of ad hoc networks
7.1.2 Mobile Ad Hoc Networks

7.2 Wireless Sensor Networks

7.2.1 Basic properties of sensor networks
7.2.2 Composition of single-sensor nodes
7.2.3 Communication in sensor networks
7.2.4 Energy aspects
7.2.5 Coverage and deployment
7.2.6 Comparison between MANETs and WSNs
7.2.7 Application examples

7.3 Challenges and research issues

7.3.1 Required functionality and constraints
7.3.2 Research objectives

8 Self-Organization in Sensor Networks

8.1 Properties and objectives
8.2 Categorization in two dimensions

8.2.1 Horizontal dimension
8.2.2 Vertical dimension

8.3 Methods and application examples

8.3.1 Mapping with primary self-organization methods
8.3.2 Global state
8.3.3 Location information
8.3.4 Neighborhood information
8.3.5 Local state
8.3.6 Probabilistic techniques

9 Medium Access Control

9.1 Contention-based protocols
9.2 Sensor MAC

9.2.1 Synchronized listen/sleep cycles
9.2.2 Performance aspects
9.2.3 Performance evaluation

9.3 Power-Control MAC protocol
9.4 Conclusion

10 Ad Hoc Routing

10.1 Overview and categorization

10.1.1 Address-based routing vs data-centric forwarding
10.1.2 Classification of ad hoc routing protocols

10.2 Principles of ad hoc routing protocols

10.2.1 Destination Sequenced Distance Vector
10.2.2 Dynamic Source Routing
10.2.3 Ad Hoc on Demand Distance Vector
10.2.4 Dynamic MANET on Demand

10.3 Optimized route stability
10.4 Dynamic address assignment

10.4.1 Overview and centralized assignment
10.4.2 Passive Duplicate Address Detection
10.4.3 Dynamic Address Allocation

10.5 Conclusion

11 Data-Centric Networking

11.1 Overview and classification

11.1.1 Data dissemination
11.1.2 Network-centric operation
11.1.3 Related approaches

11.2 Flooding, gossiping and optimizations

11.2.1 Flooding
11.2.2 Pure gossiping
11.2.3 Optimized gossiping

11.3 Agent-based techniques
11.4 Directed diffusion

11.4.1 Basic algorithm
11.4.2 Mobility support
11.4.3 Energy efficiency

11.5 Data aggregation

11.5.1 Principles and objectives
11.5.2 Aggregation topologies

11.6 Conclusion

12 Clustering

12.1 Principles of clustering

12.1.1 Requirements and classification
12.1.2 k-means
12.1.3 Hierarchical clustering

12.2 Clustering for efficient routing

12.2.1 Low-Energy Adaptive Clustering Hierarchy
12.2.2 Hybrid Energy-Efficient Distributed Clustering Approach

12.3 Conclusion

Appendix II Networking Aspects – Further Reading

Part III - Coordination and Control: Sensor and Actor Networks

13 Sensor and Actor Networks

13.1 Introduction

13.1.1 Composition of SANETs – an example
13.1.2 Properties and capabilities
13.1.3 Components of SANET nodes
13.1.4 Application examples

13.2 Challenges and research objectives

13.2.1 Communication and coordination
13.2.2 Collaboration and task allocation

13.3 Limitations

14 Communication and Coordination

14.1 Synchronization vs coordination

14.1.1 Problem statement
14.1.2 Logical time
14.1.3 Coordination

14.2 Time synchronization in WSNs and SANETs

14.2.1 Requirements and objectives
14.2.2 Conventional approaches
14.2.3 Algorithms for WSNs

14.3 Distributed coordination

14.3.1 Scalable coordination
14.3.2 Selected algorithms
14.3.3 Integrated sensor–actor and actor–actor coordination
14.3.4 Problems with selfish nodes

14.4 In-network operation and control
14.5 Conclusion

15 Collaboration and Task Allocation

15.1 Introduction to MRTA

15.1.1 Primary objectives
15.1.2 Classification and taxonomy

15.2 Intentional cooperation – auction-based task allocation

15.2.1 Open Agent Architecture
15.2.2 Murdoch
15.2.3 Dynamic negotiation algorithm

15.3 Emergent cooperation

15.3.1 Stimulation by work
15.3.2 Stimulation by state

15.4 Conclusion

Appendix III Coordination and Control – Further Reading

Part IV - Self-Organization Methods in Sensor and Actor Networks

16 Self-Organization Methods – Revisited

16.1 Self-organization methods in SANETs
16.2 Positive and negative feedback
16.3 Interactions among individuals and with the environment
16.4 Probabilistic techniques

17 Evaluation Criteria

17.1 Scalability
17.2 Energy considerations

17.2.1 Energy management
17.2.2 Transmission power management

17.3 Network lifetime

17.3.1 Definition of ‘network lifetime’
17.3.2 Scenario-based comparisons of network lifetime

Part V - Bio-inspired Networking

18 Bio-inspired Systems

18.1 Introduction and overview

18.1.1 Ideas and concepts
18.1.2 Bio-inspired research fields

18.2 Swarm Intelligence

18.2.1 Principles of ant foraging
18.2.2 Ant-based routing
18.2.3 Ant-based task allocation

18.3 Artificial Immune System

18.3.1 Principles of the immune system
18.3.2 Application examples

18.4 Cellular signaling pathways

18.4.1 Introduction to signaling pathways
18.4.2 Applicability in SANETs

18.5 Conclusion

Appendix IV Bio-inspired Networking – Further Reading