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Partitioning algorithm for a resource-constrained robotic skin sensor network

Sensor applications in robotics, such as artificial robotic skin, feature the shrinking size of nodes, and increasing scale of sensor networks. Together with a requirement for low complexity hardware for individual nodes, this leads to network optimization challenges. In this paper, we introduce a heuristic-based network partitioning algorithm for routing in a wired robotic skin sensor network, which aims at minimizing end-to-end latency and decreasing packet loss. Our algorithm is partitioning the network in sub-trees while balancing load on the root node connections. We benchmark its load balancing and evaluate its end-to-end latency and packet drops via simulation. The evaluation results show the superiority of our algorithm with respect to the state-of-the-art solutions.