Abstract
With the development of more advanced and efficient control algorithms and communication architectures, UAVs and networks thereof (swarms) now find applications in nearly all possible environments and scenarios. There exist numerous schemes which accommodate routing for such networks, many of which are specifically designed for distinct use-cases. Validation and evaluation of routing schemes is implemented for the most part using simulation software. This approach is however incapable of considering real-life noise, radio propagation models, channel bit error rate and signal-to-noise ratio. Most importantly, existing frameworks or simulation software cannot sense physical-layer related information regarding power consumption which an increasing number of routing protocols utilize as a metric. The work presented in this paper contributes to the analysis of already existing routing scheme evaluation frameworks and testbeds and proposes an efficient, universal and standardized hardware testbed. Additionally, three interface modes aimed at evaluation under different scenarios are provided.
Highlights
The birth of Mobile Ad hoc Networks (MANETs) has enabled the decentralization of a massive amount of applications and services
Depending on the requirements set by the simulated UAV network use-case, as well as the behaviour defined by the routing protocol, different, and in some occasions more unique mobility models are used to describe the FlyingAd hoc Networks (FANETs) mobility; e.g., despite its general effectiveness, the Gauss-Markov Mobility Model does not describe circular swarm mobility as effectively as the Semi Random Circular
The last mode is suitable for both Vehicular Ad hoc Networks (VANETs) deployments as well as stationary networks
Summary
The birth of Mobile Ad hoc Networks (MANETs) has enabled the decentralization of a massive amount of applications and services. When considering the relaying of communication between distant parties, routing (and high efficiency thereof) becomes not just a means to an end but rather a goal in itself Such a use-case, centered around communication relaying as well as VANET-to-FANET cooperation is mentioned in [17]; the researchers have even proposed an application-specific cross-layer routing protocol aimed at enabling close cooperation between VANETs and FANETs, as mentioned previously. In most cases, developed routing schemes are evaluated using conventional networking simulators, which can in many cases, efficiently approximate a mobile ad-hoc behavior. Opnet Modeler has been used by researchers to evaluate routing schemes of both classical and cross-layer architectures in numerous occasions Another approach to evaluating routing schemes’ efficiency, is directly using them in a testbed-network, usually comprised of Raspberry Pi modules. Our approach proves to be the most complete in covering ad hoc routing and providing an evaluation platform open for all interested researchers to use
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