Energy constraints of sensor nodes in wireless sensor networks (WSNs) is a major challenge and minimising the overall data transmitted across a network using data aggregation, distributed source coding, and compressive sensing have been proposed as mechanisms for energy saving. Similarly, use of mobile nodes capable of relocating within the network has been widely explored for energy saving. In this study, the authors propose a novel method for using miniature aerial vehicles for data collection instead of actively sensing from a deployed network. The proposed mechanism is referred as data collection fly (DCFly). It is suitable for data collection from WSNs deployed in harsh- undulating terrain with the base station located far from the sensing region. The DCFly is compared with data collection based on multi-hop data aggregation and data collection with mobile sinks. The numerical results justify that the proposed data collection mechanism is effective and efficient for use in WSNs. 1 Introduction Wireless sensor networks (WSNs) are deployed in an area to be monitored, referred to in this paper as the sensing region, for diverse applications such as habitat and environmental monitoring, battlefield surveillance, and industrial monitoring. Using active node mobility in the network, overall communication in the network can be reduced and specifically nodes close to the base station (BS) could be prevented from draining out. Various utilities that are possible using active node mobility in the network are: mobile relay, mobile data mule, and mobile BS. Alternatively, in-network data processing mechanisms such as data aggregation, network coding, and compressive sensing could be utilised for minimising the overall communication of the network. These two approaches, that is, node mobility, and in-network processing have been extensively explored individually and independently. This paper presents a mechanism for data collection using a data collection fly (DCFly). The DCFly would aerially collect data from the network. This is the first work that explores the potential of using miniature aerial vehicles (MAVs) for collecting data, collectively involving node mobility and in-network data processing. The underlying framework adopted in this paper has been presented in our preliminary work (1). The remaining paper has been structured as follows: in Section 2, previous work relating to node mobility and in-networking data processing has been presented. Section 3 provides an insight into factors governing optimal number of cluster heads (CHs) and inter-relation with position of BS, data collection operation by the DCFly; these aspects influence the network architecture. The factors governing the DCFly's possible use in the sensing region and the network operational conditions considered for evaluation are presented in Section 4. The DCFly's governing factors formulated as an optimisation problem to determine the feasible operational utility are presented in Section 5. The optimum number of clusters that can be covered by a single DCFly are presented in Section 6, along with the comparative evaluation of the proposed DCFly with a multi-hop data aggregation mechanism (referred as DA mechanism). The DCFly-based data collection is also compared with data collection from the network relying on mobile elements (MEs) in Sections 6.1 and 6.2. Finally, this paper is concluded in Section 7. 2 Related work As stated earlier, the methods for minimising the energy consumption in the network can be broadly categorised into node mobility and in-network data processing-based mechanisms.
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