Shortest paths in the plane with convex polygonal obstacles
Information Processing Letters
Approximation algorithms for shortest path motion planning
STOC '87 Proceedings of the nineteenth annual ACM symposium on Theory of computing
A scalable location service for geographic ad hoc routing
MobiCom '00 Proceedings of the 6th annual international conference on Mobile computing and networking
GPSR: greedy perimeter stateless routing for wireless networks
MobiCom '00 Proceedings of the 6th annual international conference on Mobile computing and networking
System architecture directions for networked sensors
ASPLOS IX Proceedings of the ninth international conference on Architectural support for programming languages and operating systems
GHT: a geographic hash table for data-centric storage
WSNA '02 Proceedings of the 1st ACM international workshop on Wireless sensor networks and applications
Geometric ad-hoc routing: of theory and practice
Proceedings of the twenty-second annual symposium on Principles of distributed computing
Range-free localization schemes for large scale sensor networks
Proceedings of the 9th annual international conference on Mobile computing and networking
Localized construction of bounded degree and planar spanner for wireless ad hoc networks
DIALM-POMC '03 Proceedings of the 2003 joint workshop on Foundations of mobile computing
Distributed Computing: Fundamentals, Simulations and Advanced Topics
Distributed Computing: Fundamentals, Simulations and Advanced Topics
Localization for mobile sensor networks
Proceedings of the 10th annual international conference on Mobile computing and networking
Sensor networks for medical care
Proceedings of the 3rd international conference on Embedded networked sensor systems
Geographic routing without planarization
NSDI'06 Proceedings of the 3rd conference on Networked Systems Design & Implementation - Volume 3
SensorFlock: an airborne wireless sensor network of micro-air vehicles
Proceedings of the 5th international conference on Embedded networked sensor systems
A building block approach to sensornet systems
Proceedings of the 6th ACM conference on Embedded network sensor systems
Minimizing Recovery State in Geographic Ad Hoc Routing
IEEE Transactions on Mobile Computing
Hole reshaping routing in large-scale mobile ad-hoc networks
GLOBECOM'09 Proceedings of the 28th IEEE conference on Global telecommunications
Practical 3D geographic routing for wireless sensor networks
Proceedings of the 8th ACM Conference on Embedded Networked Sensor Systems
S4: small state and small stretch compact routing protocol for large static wireless networks
IEEE/ACM Transactions on Networking (TON)
Geographic routing in d-dimensional spaces with guaranteed delivery and low stretch
Proceedings of the ACM SIGMETRICS joint international conference on Measurement and modeling of computer systems
Some problems in distributed computational geometry
Theoretical Computer Science
Geographic routing with constant stretch in large scale sensor networks with holes
WIMOB '11 Proceedings of the 2011 IEEE 7th International Conference on Wireless and Mobile Computing, Networking and Communications
IEEE Communications Magazine
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Geographic routing is well suited for large scale sensor networks, because its per node state is independent of the network size. However, the local minimum caused by holes/obstacles results in the worst-case path stretch of @W(c^2), where c is the path length of the optimal route. Recently, a geographic routing protocol based on the visibility graph (VIGOR) showed that a path stretch of @Q(c) can be achieved. This path stretch, however, is achieved at the cost of communication and storage overhead, which makes the practical deployment of VIGOR in large scale sensor networks challenging. To this end, we propose GOAL (Geometric Routing using Abstracted Holes), a routing protocol that provably achieves a path stretch of @Q(c), with lower communication and storage overhead. To compactly describe holes, we develop a novel distributed convex hull algorithm, which improves the message complexity O(n log^2n) of state of art distributed convex hull algorithm to O(n log n). The concise representation of a hole is used by nodes to make locally optimal routing decisions. Our theoretical analysis proves the correctness of the proposed algorithms and the path stretch of @Q(c). Through extensive simulations and experiments on a testbed with 42 EPIC motes, we demonstrate the effectiveness of GOAL and its feasibility for resource constrained wireless sensor networks; specifically, we show that GOAL eliminates part of communication overhead of VIGOR and reduces the memory overhead of VIGOR by up to 51%.