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lect
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I
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Vo
l.
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.
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ev
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F
ly
i
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a
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rk
(F
AN
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is
wi
d
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ly
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m
a
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m
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it
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rk
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d
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rk
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o
ld
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u
n
i
q
u
e
c
h
a
ra
c
teristics
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c
h
a
s
h
i
g
h
m
o
b
i
l
it
y
,
in
term
it
ten
t
li
n
k
s
a
n
d
fre
q
u
e
n
t
to
p
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h
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e
s,
wh
ich
c
a
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se
a
c
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a
ll
e
n
g
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k
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th
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d
a
p
ti
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DN
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b
a
se
d
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t
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g
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m
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r
F
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c
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d
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s
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to
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e
th
e
a
b
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c
h
a
ll
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g
e
s.
T
h
e
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F
AN
ET
fra
m
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c
o
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o
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t
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e
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d
ro
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m
e
c
h
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n
ism
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to
p
o
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o
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m
e
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h
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ism
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t
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a
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t
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k
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o
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ll
e
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ted
,
i
n
c
lu
d
in
g
n
o
d
e
s
a
n
d
li
n
k
s.
In
sta
ti
stics
g
a
th
e
rin
g
m
e
c
h
a
n
ism
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th
e
sta
tu
s
o
f
th
e
wire
les
s
n
e
two
r
k
c
o
n
n
e
c
ti
o
n
a
n
d
fli
g
h
t
sta
ti
stics
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re
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ll
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c
ted
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ro
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te
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p
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t
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d
b
a
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e
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sts.
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rm
a
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AS
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fra
m
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s
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v
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lu
a
ted
b
y
c
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m
p
re
h
e
n
siv
e
sim
u
latio
n
s.
Th
e
sim
u
latio
n
re
su
lt
s
sh
o
w
t
h
a
t
p
ro
p
o
se
d
fra
m
e
wo
rk
is
m
u
c
h
b
e
tt
e
r
th
a
n
o
t
h
e
r
trad
it
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n
a
l
p
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t
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c
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p
a
c
k
e
t
d
e
li
v
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ry
fra
c
ti
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n
,
a
v
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ra
g
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e
n
d
t
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n
d
d
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la
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n
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rm
a
li
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ti
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k
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t
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ss
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n
d
th
r
o
u
g
h
p
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t
.
K
ey
w
o
r
d
s
:
FANE
T
I
o
T
OL
SR
SDN
UAV
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
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CC B
Y
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SA
li
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n
se
.
C
o
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r
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s
p
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A
uth
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r
:
Alaa
T
aim
a
Alb
u
-
Salih
Dep
ar
tm
en
t o
f
C
o
m
p
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ter
Scie
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Al
Qu
ad
is
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a
Un
iv
er
s
ity
5
8
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2
Un
iv
er
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ity
R
o
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Al
Qu
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I
r
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laa.
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u
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iq
1.
I
NT
RO
D
UCT
I
O
N
Un
m
an
n
ed
ae
r
ial
v
eh
icles
(
U
AVs),
also
k
n
o
wn
as
d
r
o
n
es,
p
lay
ed
a
s
ig
n
if
ican
t
r
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d
if
f
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civ
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d
m
ilit
ar
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ap
p
licatio
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s
s
u
ch
as
r
ec
o
n
n
aiss
an
ce
,
tr
af
f
ic
m
o
n
ito
r
in
g
,
b
attlef
ield
s
u
r
v
eillan
ce
,
b
o
r
d
e
r
s
u
r
v
eillan
ce
,
f
o
r
estry
f
ir
e
m
o
n
ito
r
in
g
,
an
im
al
tr
ac
k
i
n
g
,
h
u
m
an
itar
ian
o
b
s
er
v
atio
n
s
[
1
]
.
I
n
s
tead
o
f
u
s
in
g
o
n
e
lar
g
e
UAV,
th
e
u
s
e
o
f
a
s
war
m
o
f
s
m
all
UAVs
r
ev
ea
ls
m
an
y
ad
v
a
n
tag
es
in
ter
m
s
o
f
ef
f
i
cien
cy
,
ad
ap
tab
ilit
y
,
f
lex
ib
ilit
y
an
d
ea
s
y
d
ep
l
o
y
m
e
n
t
[
2
]
.
T
h
e
u
s
e
o
f
m
u
ltip
le
U
AVs,
h
as
h
elp
ed
to
cr
ea
te
th
e
f
o
u
n
d
a
tio
n
o
f
a
n
ew
k
in
d
o
f
n
etwo
r
k
ca
lled
f
ly
i
n
g
ad
h
o
c
n
etwo
r
k
(
FANE
T
)
[
3
]
,
[
4
]
.
FANE
T
ca
n
b
e
co
n
s
id
er
e
d
a
s
p
ec
ial
s
u
b
-
class
o
f
m
o
b
ile
ad
h
o
c
n
etwo
r
k
(
MA
NE
T
)
in
wh
ich
th
e
co
n
n
ec
tin
g
n
o
d
es
ar
e
UAVs
[
5
]
.
T
h
e
r
ef
o
r
e,
a
s
in
g
le
UAV
c
an
n
o
t
b
e
r
eg
a
r
d
ed
as
a
FANE
T
an
d
i
s
o
n
ly
v
alid
f
o
r
m
u
ltip
le
UAVs.
All
m
u
ltip
le
UAV
n
etwo
r
k
s
ca
n
n
o
t
b
e
r
eg
ar
d
e
d
as
a
FANE
T
.
T
h
e
co
m
m
u
n
icatio
n
b
etwe
en
UAVs
s
h
o
u
ld
b
e
in
ad
h
o
c
m
an
n
er
to
cr
ea
te
F
ANE
T
[
6
]
.
A
d
d
itio
n
ally
,
FANE
T
ca
n
also
b
e
class
if
ied
as
a
s
u
b
g
r
o
u
p
o
f
v
eh
icu
lar
ad
h
o
c
n
etwo
r
k
(
VA
NE
T
)
,
wh
ich
is
also
a
s
u
b
-
class
o
f
MA
NE
T
.
Fig
u
r
e
1
s
h
o
ws th
e
r
elatio
n
s
h
ip
b
etwe
en
FANE
T
,
VANE
T
,
an
d
MA
NE
T
[
3
]
,
[
7
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
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2
0
8
8
-
8
7
0
8
I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
11
,
No
.
5
,
Octo
b
e
r
2
0
2
1
:
4
4
0
3
-
4
4
1
2
4404
Fig
u
r
e
1
.
MA
NE
T
,
VANE
T
a
n
d
FANE
T
n
etwo
r
k
s
T
h
e
m
o
s
t
ce
r
tain
d
if
f
er
e
n
ce
s
b
etwe
en
th
e
FANE
T
s
an
d
o
th
er
ad
h
o
c
n
etwo
r
k
s
(
M
ANE
T
an
d
VANE
T
)
,
is
th
e
d
y
n
am
ic
to
p
o
lo
g
y
o
f
n
etwo
r
k
,
th
e
s
p
ee
d
o
f
n
o
d
es
a
n
d
th
e
m
o
b
i
lity
o
f
th
e
n
o
d
es
.
Ad
d
itio
n
ally
,
FANE
T
d
if
f
er
s
f
r
o
m
MA
NE
T
a
n
d
VANE
T
i
n
co
n
n
ec
tio
n
,
Qo
S,
n
o
d
e
m
o
v
em
en
t
f
ea
tu
r
es,
a
n
d
d
ata
d
eliv
er
y
.
T
h
e
c
o
m
p
ar
is
o
n
b
etwe
en
MA
NE
T
,
VANE
T
an
d
FANE
T
with
d
if
f
er
e
n
t
cr
iter
ia
ar
e
g
iv
en
in
T
ab
le
1
[
8
]
,
[
9
]
.
FANE
T
n
o
d
es
(
UAV)
ar
e
u
s
ed
to
co
llect
d
ata
f
r
o
m
th
e
in
te
r
n
et
o
f
th
in
g
s
(
I
o
T
)
as
m
o
b
ile
co
llecto
r
s
[
1
0
]
.
I
n
d
ee
d
,
ea
ch
s
in
g
le
UA
V
in
FANE
T
ca
n
p
lay
a
m
ajo
r
r
o
le
o
n
t
h
e
I
o
T
s
,
wh
ich
co
n
s
i
s
ts
o
f
d
ev
ices
with
a
s
m
all
b
a
tter
y
ca
p
ac
ity
s
en
s
o
r
[
1
1
]
.
T
h
ese
d
ev
ices
ca
n
n
o
t
u
s
u
ally
b
e
d
is
tr
ib
u
ted
o
v
er
l
o
n
g
d
is
tan
ce
s
,
d
u
e
to
th
e
en
er
g
y
lim
itatio
n
o
f
I
o
T
d
ev
ices.
T
h
u
s
,
UAV
will
tr
av
el
d
y
n
am
ically
to
war
d
s
I
o
T
d
ev
ices,
g
ath
er
d
ata
an
d
tr
an
s
f
er
it
to
o
th
er
UAVs
in
FANE
T
n
etwo
r
k
th
a
t
ar
e
o
u
ts
id
e
th
e
co
m
m
u
n
icatio
n
r
a
n
g
es
o
f
I
o
T
d
ev
ices
[
1
2
]
,
as seen
in
Fig
u
r
e
2.
T
ab
le
1
.
Dif
f
e
r
en
ce
s
b
etwe
en
FANE
T
,
VANE
T
an
d
MA
NE
T
[
3
]
C
r
i
t
e
r
i
a
M
A
N
ET
V
A
N
ET
F
A
N
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Fig
u
r
e
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UAV
-
I
o
T
n
etwo
r
k
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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C
o
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p
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n
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I
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N:
2088
-
8
7
0
8
A
S
R
-
F
A
N
E
T:
A
n
a
d
a
p
tive
S
DN
-
b
a
s
ed
r
o
u
tin
g
fr
a
mewo
r
k
fo
r
F
A
N
E
T
(
A
la
a
Ta
ima
A
lb
u
-
S
a
lih
)
4405
R
o
u
tin
g
is
o
n
e
o
f
th
e
m
o
s
t c
h
allen
g
in
g
is
s
u
es f
o
r
FANE
T
b
ec
au
s
e
o
f
th
e
s
p
ec
if
ic
f
ea
tu
r
es o
f
FANE
T
s
u
ch
as
f
ast
n
etwo
r
k
to
p
o
lo
g
y
v
ar
ian
ce
,
h
ig
h
m
o
b
ilit
y
an
d
in
ter
m
itten
t
lin
k
s
b
etwe
en
UAV
n
o
d
es
[
1
3
]
.
C
u
r
r
en
t
MA
NE
T
an
d
VANE
T
r
o
u
tin
g
p
r
o
to
co
ls
ca
n
n
o
t
m
ee
t
all
o
f
th
e
FANE
T
r
e
q
u
ir
em
en
ts
n
etwo
r
k
b
ec
au
s
e
FANE
T
to
p
o
lo
g
y
wil
l
ch
an
g
e
m
o
r
e
o
f
ten
th
an
s
tan
d
ar
d
MA
NE
T
a
n
d
VANE
T
to
p
o
lo
g
y
[
1
4
]
.
As
a
r
esu
lt,
th
o
s
e
p
r
o
to
c
o
ls
f
ail
to
f
o
llo
w
th
e
e
v
o
lu
tio
n
o
f
th
e
to
p
o
lo
g
y
o
f
th
e
FANE
T
n
etwo
r
k
.
So
,
t
h
er
e
is
a
b
i
g
ch
allen
g
e
in
f
r
o
n
t
o
f
r
esear
ch
er
s
to
p
r
o
v
id
e
a
n
ef
f
icien
t
a
n
d
r
eliab
le
r
o
u
tin
g
s
tr
ateg
y
.
T
h
er
ef
o
r
e
,
th
er
e
is
a
n
ee
d
o
f
d
ev
elo
p
in
g
n
ew
r
o
u
tin
g
s
tr
ateg
y
f
o
r
to
p
r
o
v
i
d
in
g
a
r
e
liab
le
co
m
m
u
n
icatio
n
b
etwe
en
FANE
T
n
o
d
es
.
A
p
r
o
m
is
in
g
alter
n
ativ
e
to
co
n
v
en
tio
n
al
in
ter
n
et
p
r
o
t
o
co
l
(
IP
)
n
etwo
r
k
s
is
th
e
s
o
f
twa
r
e
-
d
ef
in
e
d
n
etwo
r
k
s
(
SDN)
.
SDN
im
p
le
m
en
ts
n
etwo
r
k
p
r
o
g
r
am
m
a
b
ilit
y
b
y
s
ep
ar
atin
g
n
etwo
r
k
co
n
tr
o
l
an
d
d
ata
p
lan
e
[
1
5
]
.
T
h
e
co
n
tr
o
l
p
la
n
e
a
lo
g
i
ca
lly
ce
n
tr
alize
d
n
etwo
r
k
co
n
t
r
o
ller
d
ictates
o
v
er
all
n
etwo
r
k
ac
tiv
ities
,
wh
ile
in
th
e
d
ata
p
lan
e
is
r
es
p
o
n
s
ib
le
f
o
r
tr
an
s
m
itti
n
g
d
ata
f
lo
ws.
T
h
e
SDN
ar
ch
itectu
r
e
en
h
an
ce
s
t
h
e
r
o
u
tin
g
s
tr
ateg
y
'
s
ef
f
icien
cy
b
ased
o
n
th
e
i
n
f
o
r
m
atio
n
g
ath
er
e
d
b
y
th
e
SDN
c
o
n
tr
o
ller
[
1
6
]
.
T
h
e
FANE
T
n
etwo
r
k
is
ch
a
r
ac
ter
ized
f
o
r
its
q
u
ic
k
ch
a
n
g
in
g
n
etwo
r
k
to
p
o
l
o
g
y
,
h
ig
h
m
o
b
ilit
y
,
in
ter
m
itten
t
lin
k
s
,
en
e
r
g
y
co
n
s
tr
ain
ts
,
an
d
lin
k
q
u
ality
c
h
an
g
es.
T
r
ad
itio
n
al
r
o
u
tin
g
s
tr
ate
g
ies
ar
e
n
o
t
ab
le
to
m
ee
t
th
e
ab
o
v
e
FANE
T
r
eq
u
i
r
em
en
ts
.
So
,
we
p
r
o
p
o
s
e
a
n
o
v
el
a
d
ap
tiv
e
SDN
r
o
u
tin
g
f
r
a
m
ewo
r
k
f
o
r
FANE
T
(
n
am
ely
,
ASR
-
FANE
T
)
co
n
s
id
er
in
g
th
e
d
y
n
am
ic
to
p
o
lo
g
y
o
f
FANE
T
.
T
o
o
p
tim
ize
th
e
r
o
u
tin
g
a
n
d
q
u
ality
o
f
s
er
v
ice
(
Qo
S
)
r
eq
u
ir
e
m
en
ts
,
FANE
T
to
p
o
l
o
g
y
ca
n
b
e
d
y
n
am
ically
m
o
d
i
f
ied
u
s
in
g
an
ASR
-
FANE
T
f
r
am
ewo
r
k
.
T
h
e
g
o
al
o
f
t
h
is
f
r
am
ewo
r
k
is
to
e
n
h
an
ce
th
e
p
er
f
o
r
m
an
ce
o
f
its
n
etwo
r
k
wh
ile
tak
in
g
in
to
ac
co
u
n
t
all
th
e
r
o
u
tin
g
co
n
s
tr
ain
ts
,
s
u
ch
as
f
a
s
t
ch
an
g
in
g
n
etwo
r
k
to
p
o
lo
g
y
,
h
ig
h
m
o
b
ilit
y
,
in
ter
m
itten
t
lin
k
s
an
d
lin
k
q
u
ality
ch
an
g
es.
T
h
e
ar
ticle
p
r
o
v
id
es
th
e
co
n
tr
i
b
u
tio
n
s
:
B
y
d
ef
in
i
n
g
k
ey
r
o
u
ti
n
g
p
r
o
b
lem
s
in
th
e
FANE
T
,
we
p
er
f
o
r
m
a
n
ex
ten
s
iv
e
FANE
T
r
o
u
tin
g
i
n
v
esti
g
a
tio
n
wh
ich
is
th
e
m
ain
f
ea
tu
r
e
s
o
f
th
is
ar
ticle.
T
h
e
co
n
tr
ib
u
tio
n
s
o
f
th
is
p
a
p
er
ca
n
b
e
d
ef
in
e
d
is
b
ein
g
as
:
a.
B
y
d
ef
in
in
g
th
e
k
ey
ch
alle
n
g
es
o
f
th
e
r
o
u
tin
g
p
r
o
b
lem
in
t
h
e
FANE
T
,
we
p
er
f
o
r
m
a
n
ac
cu
r
ate
in
v
esti
g
atio
n
o
f
SDN
-
b
ased
r
o
u
tin
g
in
FANE
T
.
b.
An
Ad
ap
tiv
e
SDN
-
b
ased
r
o
u
ti
n
g
f
r
am
ew
o
r
k
is
p
r
o
p
o
s
ed
f
o
r
d
y
n
am
ic
r
o
u
tin
g
u
s
in
g
m
u
ltip
l
e
UAVs
in
th
e
I
o
T
n
etwo
r
k
.
W
e
r
e
f
er
to
th
is
f
r
am
ewo
r
k
as
(
ASR
-
FANE
T
)
.
T
h
is
f
r
a
m
ewo
r
k
in
clu
d
es
a
n
ASR
-
FANE
T
co
n
tr
o
ller
th
at
co
llects
th
e
g
l
o
b
al
in
f
o
r
m
atio
n
o
f
FANE
T
n
o
d
es
(
e.
g
.
,
s
p
ee
d
,
lo
ca
tio
n
in
f
o
r
m
atio
n
an
d
r
esid
u
al
en
er
g
y
)
.
T
h
is
co
n
tr
o
ll
er
m
ak
es r
o
u
tin
g
d
ec
is
io
n
s
an
d
d
ec
id
es h
o
w
t
h
e
UAV
n
o
d
es
s
h
o
u
ld
m
o
v
e.
c.
T
h
e
p
er
f
o
r
m
a
n
ce
o
f
th
is
ASR
-
FANE
T
is
co
m
p
ar
ed
with
two
co
m
m
o
n
tr
ad
itio
n
al
r
o
u
tin
g
p
r
o
to
co
ls
in
ter
m
s
o
f
p
ac
k
et
d
eliv
er
y
f
r
ac
ti
o
n
,
en
d
2
en
d
d
elay
,
n
o
r
m
alize
d
r
o
u
tin
g
lo
ad
,
p
ac
k
et
l
o
s
s
an
d
th
r
o
u
g
h
p
u
t.
d.
Simu
latio
n
r
esu
lts
s
h
o
w
th
at
th
e
p
r
o
p
o
s
ed
f
r
am
ewo
r
k
ca
n
ac
h
iev
e
lo
wer
en
d
2
en
d
d
el
ay
,
n
o
r
m
alizin
g
r
o
u
tin
g
l
o
ad
,
a
n
d
h
i
g
h
er
t
h
r
o
u
g
h
p
u
t a
n
d
p
ac
k
et
d
eliv
er
y
f
r
ac
tio
n
.
T
h
e
r
est
o
f
th
is
p
ap
er
is
s
tr
u
ctu
r
ed
is
b
ein
g
as
.
T
h
e
r
o
u
tin
g
m
eth
o
d
s
in
FANE
T
n
etwo
r
k
s
ar
e
d
is
cu
s
s
ed
in
s
ec
t
io
n
2
.
Sectio
n
3
in
tr
o
d
u
ce
s
th
e
s
u
g
g
ested
f
r
am
ewo
r
k
s
tep
s
.
I
n
s
ec
tio
n
4
,
th
e
s
tep
s
o
f
th
e
s
u
g
g
e
s
t
e
d
f
r
a
m
e
w
o
r
k
a
r
e
p
r
e
s
e
n
t
e
d
.
F
i
n
a
l
l
y
,
s
e
c
t
i
o
n
5
p
r
o
v
i
d
e
s
c
o
n
c
l
u
s
i
o
n
s
a
n
d
r
e
c
o
m
m
e
n
d
a
t
i
o
n
s
f
o
r
f
u
t
u
r
e
s
t
u
d
y
.
2.
RE
L
AT
E
D
WO
RK
S
I
n
s
p
ite
o
f
p
r
ac
tical
ap
p
licatio
n
s
o
f
FANE
T
in
I
o
T
n
etwo
r
k
s
,
m
an
y
tec
h
n
ical
is
s
u
es
s
u
ch
as
r
o
u
tin
g
s
h
o
u
ld
b
e
s
tu
d
ied
.
Alth
o
u
g
h
tr
ad
itio
n
al
r
o
u
tin
g
p
r
o
to
co
ls
ar
e
d
esig
n
ed
MA
NE
T
,
th
e
y
ar
e
n
o
t
n
ec
ess
ar
ily
s
u
ited
to
FANE
T
b
ec
au
s
e
F
ANE
T
to
p
o
lo
g
y
will
ch
an
g
e
m
o
r
e
o
f
ten
t
h
an
s
tan
d
ar
d
MA
NE
T
.
A
n
u
m
b
er
o
f
r
o
u
tin
g
p
r
o
t
o
co
ls
with
d
if
f
er
e
n
t
tech
n
iq
u
es
ar
e
p
r
o
p
o
s
ed
f
o
r
FANE
T
tr
y
in
g
to
in
cr
ea
s
e
t
h
e
p
ac
k
et
d
eliv
er
y
r
atio
,
r
ed
u
ce
th
e
en
d
to
en
d
d
elay
,
to
d
ec
r
ea
s
e
p
ac
k
et
d
r
o
p
,
an
d
to
b
e
ad
ap
ted
in
d
if
f
er
en
t
s
itu
atio
n
s
.
T
h
er
ef
o
r
e,
we
f
ir
s
t
r
ev
iew
th
e
r
elev
an
t
SDN
-
b
ased
r
o
u
tin
g
p
r
o
to
co
ls
in
FANE
T
ac
co
r
d
in
g
to
th
e
p
r
ev
io
u
s
is
s
u
e,
an
d
th
en
e
x
am
in
e
ea
ch
o
f
th
ese
wo
r
k
s
an
d
d
escr
ib
e
t
h
e
ad
v
an
tag
es a
n
d
d
r
awb
ac
k
s
o
f
ea
ch
wo
r
k
.
T
h
e
au
th
o
r
s
R
am
ap
r
asath
in
[
1
7
]
p
r
o
p
o
s
ed
a
n
o
v
el
UAVs
co
m
m
u
n
icatio
n
s
ch
em
e
b
ased
SDN.
An
SDN
co
n
tr
o
ller
is
u
s
ed
to
ca
l
cu
late
th
e
r
o
u
tes
an
d
to
m
o
n
it
o
r
in
f
o
r
m
atio
n
with
r
e
g
ar
d
s
t
o
th
e
n
etwo
r
k
.
T
h
e
m
ain
g
o
al
o
f
th
is
s
ch
em
e
is
to
d
ec
r
ea
s
e
th
e
laten
cy
,
an
d
in
cr
ea
s
e
th
e
th
r
o
u
g
h
p
u
t
Sil
v
a
et
a
l
.
[
1
8
]
ex
p
lo
ited
th
e
SDN
to
m
ain
tain
th
e
to
p
o
l
o
g
y
o
f
FANE
T
.
T
h
e
p
r
im
ar
y
p
u
r
p
o
s
e
o
f
t
h
is
p
r
o
to
co
l
is
to
d
e
f
in
e
an
d
m
o
d
if
y
th
e
to
p
o
lo
g
y
s
o
as to
m
ain
tain
th
e
co
n
n
ec
tio
n
b
etwe
en
th
e
i
n
d
ep
en
d
en
t n
o
d
es v
ia
th
e
r
e
lay
n
o
d
es.
Secin
ti
et
a
l.
[
1
9
]
p
r
o
p
o
s
ed
r
esil
ien
t
m
u
lti
-
p
ath
r
o
u
tin
g
f
r
am
ewo
r
k
b
y
SDN
f
o
r
d
y
n
a
m
ic
UA
V
n
etwo
r
k
s
.
T
h
e
SDN
co
n
tr
o
lle
r
is
co
m
p
o
s
ed
o
f
4
s
ep
ar
ate
m
o
d
u
les:
Data
ac
q
u
is
itio
n
m
o
d
u
le,
t
r
an
s
m
is
s
io
n
tim
e
ca
lcu
latio
n
m
o
d
u
le,
e
n
d
2
en
d
r
esil
ien
t
m
u
ltip
at
h
r
o
u
tin
g
m
o
d
u
le,
an
d
m
u
lti
-
lay
er
g
r
a
p
h
m
o
d
elin
g
m
o
d
u
le.
A
m
u
lti
-
lay
er
g
r
ap
h
m
o
d
elin
g
m
o
d
u
le
with
SDN
co
n
tr
o
ller
is
u
s
ed
t
o
cr
ea
t
e
s
ep
ar
ate
p
ath
s
to
p
r
ev
en
t ja
m
m
e
d
r
o
u
tes
.
I
q
b
al
[
2
0
]
,
an
SDN
-
b
ased
m
ec
h
an
is
m
f
o
r
FANE
T
with
h
ig
h
ly
d
y
n
am
ic
is
p
r
o
p
o
s
ed
.
T
h
e
m
e
ch
an
is
m
is
u
s
ed
to
p
r
ed
ict
n
etwo
r
k
d
is
r
u
p
tio
n
s
(
s
u
ch
as
lin
k
o
u
tag
es)
an
d
m
a
x
im
ize
av
ailab
ilit
y
a
n
d
p
er
f
o
r
m
a
n
ce
o
f
n
etwo
r
k
.
An
SDN
is
u
s
ed
to
m
ak
e
th
e
n
ec
ess
ar
y
r
o
u
tin
g
c
h
an
g
es
f
o
r
m
in
im
izin
g
th
e
ef
f
ec
t
o
f
th
e
p
r
ed
icted
lin
k
ch
an
g
es.
Z.
Yu
an
[
2
1
]
,
n
o
v
el
ar
ch
itectu
r
e
f
o
r
m
o
b
ile
s
en
s
o
r
n
etwo
r
k
in
g
is
p
r
o
p
o
s
ed
f
o
r
a
m
icr
o
UAV
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
8
I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
11
,
No
.
5
,
Octo
b
e
r
2
0
2
1
:
4
4
0
3
-
4
4
1
2
4406
u
s
in
g
SDN.
T
h
e
g
o
al
o
f
th
i
s
ar
ch
itectu
r
e
is
to
en
h
an
ce
n
etwo
r
k
p
er
f
o
r
m
a
n
ce
an
d
i
n
cr
ea
s
e
th
e
u
s
e
o
f
co
n
v
en
tio
n
al
m
o
b
ile
n
etwo
r
k
s
f
o
r
wir
eless
ch
an
n
el
r
eso
u
r
ce
s
.
Qi
et
a
l.
[
2
2
]
d
ev
elo
p
ed
a
T
DR
alg
o
r
ith
m
with
a
co
o
r
d
in
ato
r
an
d
a
c
o
n
tr
o
ller
f
o
r
th
e
SDN
c
lu
s
ter
.
T
h
e
co
n
tr
o
ller
is
u
s
ed
to
co
lle
ct
th
e
wh
o
le
ab
s
tr
ac
t c
lu
s
ter
n
etwo
r
k
v
iews,
s
ch
ed
u
le
th
e
n
e
two
r
k
r
eso
u
r
ce
s
an
d
also
g
u
id
e
th
e
d
ata
f
o
r
war
d
in
g
.
T
DR
aim
s
to
en
s
u
r
e
th
e
r
e
liab
ilit
y
an
d
d
elay
-
s
en
s
itiv
e
ca
p
ab
ilit
ies
o
f
v
ar
io
u
s
ap
p
licatio
n
s
with
th
e
r
esp
ec
tiv
e
Qo
S.
C
h
en
et
a
l.
[
2
3
]
d
ev
elo
p
e
d
a
n
AT
N
ar
ch
itectu
r
e
b
ased
o
n
th
e
SDN
f
o
r
air
b
o
r
n
e
tactica
l
n
etwo
r
k
.
(
SD
-
AT
N's
)
s
o
f
twar
e
d
ef
in
ed
-
a
r
s
itek
tu
r
n
etwo
r
k
g
o
al
is
to
en
s
u
r
e
th
at
th
e
SDN
co
n
tr
o
l p
la
n
e
co
llects th
e
d
ata
p
lan
e
m
o
n
ito
r
in
g
in
f
o
r
m
atio
n
in
r
ea
l
tim
e.
MCF
-
SD
-
AT
N
i
s
a
co
m
m
u
n
icatio
n
p
r
o
t
o
co
l
is
d
esig
n
ed
to
co
llect
m
o
n
ito
r
in
g
in
f
o
r
m
atio
n
i
n
ef
f
i
cien
t m
an
n
er
a
n
d
e
n
s
u
r
e
a
Qo
S o
f
m
o
n
ito
r
in
g
i
n
f
o
r
m
atio
n
.
Alh
ar
th
i
et
a
l.
[
2
4
]
u
tili
ze
s
th
e
SDN
in
SDN
-
b
ased
UAV
a
r
ch
itectu
r
e
to
in
co
r
p
o
r
ate
a
w
id
e
v
ar
iety
o
f
d
ep
l
o
y
m
en
t
s
ce
n
a
r
io
s
f
o
r
U
AVs.
T
h
e
ar
ch
itectu
r
e
is
u
s
ef
u
l
f
o
r
u
s
e
in
ca
s
es
s
u
ch
as
n
etwo
r
k
co
v
er
ag
e
,
s
ca
n
n
in
g
,
an
d
s
en
s
in
g
,
an
d
is
ca
p
ab
le
o
f
wo
r
k
in
g
wh
er
e
n
etwo
r
k
co
n
n
ec
tiv
ity
is
n
o
t
av
ailab
le.
Sm
all
-
an
d
lar
g
e
-
s
ca
le
s
ce
n
ar
io
s
h
av
e
b
ee
n
em
p
lo
y
ed
to
e
x
p
lain
th
is
ar
c
h
itectu
r
e.
Kir
ich
ek
et
a
l.
[
2
5
]
d
esig
n
ed
an
FUSN
ar
ch
itectu
r
e
b
ased
o
n
th
e
SDN
f
o
r
f
ly
in
g
s
en
s
o
r
n
etwo
r
k
in
wh
ich
UAVs
ar
e
u
s
ed
as
co
n
t
r
o
ller
s
an
d
s
en
s
o
r
s
.
FANE
T
n
o
d
es
ar
e
d
ep
lo
y
e
d
to
cr
ea
te
co
n
n
ec
tiv
ity
b
etwe
en
g
r
o
u
n
d
an
d
a
f
ly
in
g
d
ata
co
llecto
r
as
s
wi
tch
es.
An
o
th
er
n
o
d
e
will
b
e
co
n
f
ig
u
r
ed
as
th
e
SDN
co
n
tr
o
ller
f
o
r
u
p
d
atin
g
th
e
r
o
u
tin
g
ta
b
les
f
o
r
th
e
o
th
er
n
o
d
es.
T
h
is
ar
ch
itectu
r
e
aim
s
to
estab
li
s
h
ef
f
icien
t
r
o
u
tin
g
f
r
o
m
m
o
b
ile
s
en
s
o
r
s
lo
ca
ted
o
n
th
e
g
r
o
u
n
d
with
th
e
h
el
p
o
f
UAVs.
I
n
T
ab
le
2
,
th
e
p
r
ev
i
o
u
s
ly
r
ev
iewe
d
wo
r
k
s
f
o
r
SDN
-
b
ased
r
o
u
tin
g
s
o
lu
tio
n
s
ar
e
co
m
p
a
r
ed
in
ter
m
s
o
f
s
o
m
e
p
ar
am
eter
s
s
u
ch
as
d
ea
d
lin
e
tim
e,
o
p
tim
a
l
d
ep
lo
y
m
e
n
t
o
f
UAVs,
th
e
e
n
e
r
g
y
c
o
n
s
u
m
p
tio
n
o
f
FANE
T
n
o
d
es,
th
e
o
p
tim
al
n
u
m
b
e
r
o
f
F
ANE
T
n
o
d
es,
a
n
d
th
e
m
in
im
u
m
a
m
o
u
n
t o
f
tim
e
t
o
co
llect
d
ata
f
r
o
m
I
o
T
n
o
d
es.
T
ab
le
1
.
C
o
m
p
a
r
is
o
n
o
f
th
e
r
e
v
iewe
d
wo
r
k
s
D
e
a
d
l
i
n
e
M
i
n
i
m
u
m
t
r
a
v
e
l
l
e
d
t
i
m
e
o
f
U
A
V
En
e
r
g
y
Ef
f
i
c
i
e
n
c
y
O
p
t
i
mal
p
o
s
i
t
i
o
n
i
n
g
o
f
U
A
V
C
e
n
t
r
a
l
i
z
e
d
/
D
i
st
r
i
b
u
t
e
d
F
i
x
e
d
/
mo
b
i
l
e
n
o
d
e
s
S
i
n
g
l
e
-
H
o
p
/
mu
l
t
i
-
h
o
p
R
e
f
e
r
e
n
c
e
No
No
Y
e
s
No
C
e
n
t
r
a
l
i
z
e
d
F
i
x
e
d
M
u
l
t
i
p
l
e
R
a
ma
p
r
a
s
a
t
h
e
t
a
l
.
[
1
7
]
No
No
No
Y
e
s
C
e
n
t
r
a
l
i
z
e
d
M
o
b
i
l
e
M
u
l
t
i
p
l
e
S
i
l
v
a
e
t
a
l
.
[
1
8
]
No
No
No
No
D
i
st
r
i
b
u
t
e
d
F
i
x
e
d
M
u
l
t
i
p
l
e
S
e
c
i
n
t
i
e
t
a
l
.
[
1
9
]
No
No
No
No
C
e
n
t
r
a
l
i
z
e
d
F
i
x
e
d
S
i
n
g
l
e
I
q
b
a
l
e
t
a
l
.
[
2
0
]
No
No
No
No
C
e
n
t
r
a
l
i
z
e
d
M
o
b
i
l
e
S
i
n
g
l
e
Y
u
a
n
e
t
a
l
.
[
2
1
]
No
No
Y
e
s
No
D
i
st
r
i
b
u
t
e
d
M
o
b
i
l
e
S
i
n
g
l
e
Q
i
e
t
a
l
.
[
2
2
]
No
No
No
No
C
e
n
t
r
a
l
i
z
e
d
F
i
x
e
d
S
i
n
g
l
e
C
h
e
n
e
t
a
l
.
[
2
3
]
No
No
Y
e
s
No
C
e
n
t
r
a
l
i
z
e
d
M
o
b
i
l
e
S
i
n
g
l
e
A
l
h
a
r
t
h
i
e
t
a
l
.
[
2
4
]
No
No
No
Y
e
s
C
e
n
t
r
a
l
i
z
e
d
F
i
x
e
d
S
i
n
g
l
e
K
i
r
i
c
h
e
k
e
t
a
l
.
[
2
5
]
3.
T
H
E
P
RO
P
O
SE
D
F
RAM
E
WO
RK
T
o
ad
d
r
ess
th
e
is
s
u
e
o
f
tr
ad
itio
n
al
r
o
u
tin
g
in
FANE
T
n
etwo
r
k
,
a
n
o
v
el
a
d
ap
ti
v
e
SDN
r
o
u
tin
g
f
r
am
ewo
r
k
f
o
r
FANE
T
was
p
r
o
p
o
s
ed
(
n
a
m
ely
,
ASR
-
FANE
T
)
.
An
ad
ap
tiv
e
-
SDN
co
n
tr
o
ll
er
is
u
s
ed
in
A
SR
-
FANE
T
,
in
wh
ich
n
etwo
r
k
co
n
tr
o
l
is
d
iv
id
ed
b
e
twee
n
SDN
co
n
tr
o
l
a
n
d
UAV
(
d
ata
p
lan
e
)
.
I
n
th
is
ca
s
e,
th
e
FANE
T
n
o
d
es
h
av
e
th
e
d
ec
i
s
io
n
s
to
ca
r
r
y
d
ata
with
th
e
d
is
tr
ib
u
tin
g
r
o
u
tin
g
p
r
o
to
co
ls
,
with
o
u
t
th
e
SDN
co
n
tr
o
ller
in
v
o
l
v
in
g
th
em
.
I
n
th
e
p
r
esen
ce
o
f
n
etwo
r
k
f
ailu
r
es
an
d
i
n
s
tab
ilit
y
,
n
o
n
-
SDN
(
t
r
ad
iti
o
n
al
)
r
o
u
tin
g
p
r
o
to
co
ls
s
u
c
h
as
o
p
tim
ized
li
n
k
s
tate
r
o
u
tin
g
(
OL
SR
)
ca
n
b
e
u
s
ed
to
p
r
o
v
i
d
e
a
s
tab
le
n
etwo
r
k
ar
c
h
itectu
r
e
f
o
r
ex
p
lo
r
in
g
n
etwo
r
k
to
p
o
lo
g
y
an
d
r
o
u
tin
g
.
Par
t o
f
th
e
n
o
d
es in
th
e
SDN
n
etwo
r
k
in
ASR
-
FANE
T
f
r
am
ewo
r
k
will d
y
n
am
ically
m
o
v
e
f
r
o
m
SDN
to
a
co
n
v
en
tio
n
al
d
is
tr
ib
u
ted
r
o
u
tin
g
p
r
o
to
c
o
l
(
e.
g
.
OL
SR
)
a
n
d
b
y
p
a
s
s
SDN
f
o
r
war
d
i
n
g
r
u
les.
I
n
d
is
tr
ib
u
ted
m
an
n
er
,
FANE
T
n
o
d
es
ca
n
b
e
s
elec
ted
in
a
s
p
ec
if
ic
ar
ea
wh
er
e
f
r
eq
u
en
t
n
etwo
r
k
c
h
an
g
es
o
cc
u
r
.
Natu
r
ally
,
th
e
d
is
tr
ib
u
ted
r
o
u
tin
g
p
r
o
to
c
o
l
will
b
e
co
m
p
atib
le
with
th
ese
ch
an
g
es
f
aster
th
an
th
e
SD
N
co
n
tr
o
ller
.
W
h
en
th
e
co
n
n
ec
tio
n
to
th
e
SDN
co
n
tr
o
ller
b
ec
o
m
es
m
o
r
e
s
tab
le,
FANE
T
n
o
d
es
c
an
b
e
r
ec
o
n
f
ig
u
r
ed
b
y
th
e
SDN
co
n
tr
o
ller
an
d
m
i
g
r
ated
to
t
h
e
SDN
ag
ain
.
B
y
tr
an
s
f
er
r
in
g
th
e
co
n
tr
o
l
to
th
e
FANE
T
n
o
d
es,
th
e
SDN
ar
ch
itectu
r
e
m
o
r
e
b
ec
o
m
es
s
u
itab
le
f
o
r
th
e
FANE
T
en
v
ir
o
n
m
e
n
t
an
d
m
o
r
e
c
o
m
p
at
ib
le
with
n
etwo
r
k
m
o
d
if
icatio
n
s
.
SDN
n
etwo
r
k
is
f
o
r
m
ed
b
y
m
o
u
n
tin
g
th
e
Op
e
n
Flo
w
s
witch
es
o
n
th
e
UAVs
an
d
th
e
co
n
t
r
o
l
f
ac
ilit
y
o
n
a
ce
n
tr
alize
d
co
n
tr
o
ller
.
W
e
co
n
s
id
er
ed
a
ce
n
tr
alize
d
n
etwo
r
k
in
wh
ich
th
e
lo
ca
tio
n
s
o
f
UAVs
an
d
I
o
T
d
ev
ices
a
r
e
k
n
o
wn
to
an
SDN
co
n
tr
o
ller
.
T
h
e
c
o
n
tr
o
ller
is
awa
r
e
o
f
th
e
g
lo
b
al
n
etwo
r
k
to
p
o
lo
g
y
.
W
e
u
s
ed
a
s
in
g
le
ce
n
tr
al
co
n
tr
o
ller
wh
ich
m
o
n
ito
r
s
th
e
o
v
er
all
tr
af
f
ic
n
e
two
r
k
.
Sin
ce
m
an
y
o
f
th
e
I
o
T
n
etw
o
r
k
ap
p
licatio
n
s
h
av
e
b
ee
n
s
p
r
ea
d
eq
u
ally
o
n
th
e
n
etwo
r
k
,
we
al
s
o
p
r
esu
m
e
th
at
th
e
d
is
tr
ib
u
tio
n
o
f
I
o
T
n
o
d
es
in
th
e
n
etwo
r
k
wo
u
ld
b
e
u
n
if
o
r
m
.
No
d
es
ar
e
o
f
two
ty
p
es:
C
lu
s
ter
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2088
-
8
7
0
8
A
S
R
-
F
A
N
E
T:
A
n
a
d
a
p
tive
S
DN
-
b
a
s
ed
r
o
u
tin
g
fr
a
mewo
r
k
fo
r
F
A
N
E
T
(
A
la
a
Ta
ima
A
lb
u
-
S
a
lih
)
4407
h
ead
(
CH
)
an
d
clu
s
ter
m
em
b
e
r
(
CM
)
.
T
h
e
C
Hs
an
d
C
M
s
ar
e
r
an
d
o
m
ly
d
ep
lo
y
e
d
in
th
e
n
etwo
r
k
f
ield
.
E
ac
h
d
ev
ice
wo
u
l
d
u
s
u
ally
h
as
a
lin
e
o
f
s
ig
h
t
v
iew
with
a
g
iv
e
n
p
r
o
b
ab
ilit
y
t
o
war
d
s
a
p
ar
ticu
lar
UAV.
T
h
is
lin
e
o
f
s
ig
h
t p
o
s
s
ib
ilit
y
d
ep
en
d
s
o
n
th
e
en
v
ir
o
n
m
e
n
t,
th
e
p
o
s
itio
n
o
f
th
e
I
o
T
d
ev
ice,
th
e
UAV
an
d
th
e
elev
atio
n
an
g
le
b
etwe
en
UAV
an
d
I
o
T
d
ev
ice
.
I
n
th
is
ar
ticle,
ea
ch
o
f
th
e
I
o
T
n
o
d
es
is
s
u
p
p
o
s
ed
to
b
e
th
e
ab
ilit
y
to
s
et
th
eir
o
wn
r
ates
as
wel
l
as
th
e
r
ad
iu
s
o
f
tr
an
s
m
is
s
io
n
.
All
n
o
d
es
o
f
I
o
T
n
etwo
r
k
ar
e
awa
r
e
o
f
th
eir
g
eo
g
r
ap
h
ical
p
lace
b
ased
o
n
g
l
o
b
al
p
o
s
itio
n
in
g
s
y
s
tem
(
GPS),
an
d
th
eir
lo
ca
tio
n
s
ar
e
k
n
o
wn
t
o
FANE
T
an
d
ar
e
u
s
ed
to
f
in
d
o
p
tim
al
r
o
u
te
f
o
r
FANE
T
n
o
d
es.
W
e
as
s
u
m
e
th
at
th
e
o
f
UAV
n
o
d
es
in
th
e
FANE
T
wil
l
b
e
d
is
tr
ib
u
ted
in
ad
h
o
c
f
o
r
m
at
io
n
.
I
n
th
is
ar
ticle,
ev
er
y
UAV
h
as
th
e
ab
i
lity
to
m
o
v
e
at
f
ix
ed
s
p
ee
d
an
d
f
ix
ed
h
eig
h
t.
UAV
with
h
ig
h
p
r
o
ce
s
s
in
g
p
o
we
r
an
d
m
e
m
o
r
y
will
b
e
ass
u
m
ed
.
I
n
th
is
ar
ticle,
e
v
er
y
UAV
h
as
th
e
ab
ilit
y
to
m
o
v
e
with
n
o
o
b
s
tacle
s
.
E
v
er
y
UAV
h
as
th
e
ab
ilit
y
to
m
o
v
e
with
o
u
t
r
is
k
o
f
co
llis
io
n
.
B
ased
o
n
th
e
ab
o
v
e
ass
u
m
p
tio
n
s
o
f
FANE
T
an
d
I
o
T
n
etwo
r
k
s
,
th
e
ASR
-
FANE
T
f
r
am
ewo
r
k
f
o
r
d
esig
n
in
g
a
n
o
v
el
d
y
n
am
ic
r
o
u
tin
g
f
r
am
ew
o
r
k
f
o
r
F
ANE
T
u
s
in
g
th
e
Ad
ap
tiv
e
SDN
ca
n
b
e
c
o
n
s
is
ted
o
f
th
r
ee
m
ain
m
ec
h
a
n
is
m
s
:
to
p
o
lo
g
y
d
is
co
v
er
y
m
ec
h
an
is
m
,
s
tatis
tic
s
g
ath
er
in
g
m
ec
h
an
is
m
an
d
,
a
n
d
r
o
u
te
co
m
p
u
tatio
n
m
ec
h
a
n
is
m
.
As
s
h
o
wn
in
Fig
u
r
e
3
,
all
o
f
th
ese
th
r
ee
m
ec
h
an
is
m
s
ar
e
lo
ca
ted
in
th
e
SDN
co
n
tr
o
ller
.
B
elo
w
we
will e
x
p
lain
ea
ch
o
f
th
em
in
d
eta
il:
−
T
o
p
o
lo
g
y
d
is
co
v
er
y
m
ec
h
an
is
m
I
n
th
is
m
ec
h
an
is
m
,
t
h
e
p
er
io
d
ic
in
f
o
r
m
atio
n
ab
o
u
t
n
etwo
r
k
to
p
o
lo
g
y
(
n
o
d
es
an
d
lin
k
s
)
is
co
llected
.
T
h
e
co
n
n
ec
tiv
ity
in
f
o
r
m
atio
n
ab
o
u
t
n
etwo
r
k
is
co
n
s
tan
tly
av
ailab
le
to
o
th
er
m
ec
h
a
n
is
m
s
in
th
e
SD
N
co
n
tr
o
ller
.
−
Statis
t
ics
g
ath
er
in
g
m
ec
h
a
n
is
m
T
h
is
m
ec
h
an
is
m
co
llects
th
e
s
tatu
s
o
f
th
e
FANE
T
f
lig
h
t
s
tatis
tics
(
s
p
ee
d
,
GPS
d
ata,
I
MU
d
ata)
an
d
n
etwo
r
k
c
o
n
n
ec
tio
n
(
d
elay
,
R
SS
I
,
b
it
er
r
o
r
r
ate)
.
T
h
e
in
f
o
r
m
atio
n
f
o
r
t
h
is
m
ec
h
an
is
m
is
s
en
t
as
a
r
ef
e
r
en
ce
t
o
cr
ea
te
a
n
ew
f
lo
w
p
ath
.
−
R
o
u
te
co
m
p
u
tatio
n
m
ec
h
a
n
is
m
T
h
is
m
ec
h
an
is
m
is
u
s
ed
to
d
eter
m
in
e
t
h
e
o
p
tim
al
p
at
h
s
b
ased
o
n
d
ata
o
b
tain
ed
f
r
o
m
o
th
er
m
ec
h
an
is
m
s
.
An
y
UAV
in
FANE
T
h
as
b
o
t
h
L
T
E
an
d
W
i
-
Fi
co
n
n
ec
tiv
ity
.
T
h
e
co
n
tr
o
l
co
n
n
ec
tio
n
b
e
t
wee
n
UAV
an
d
SDN
is
en
ab
led
t
h
r
o
u
g
h
L
T
E
co
n
n
ec
tiv
ity
,
wh
ile
th
e
W
i
-
Fi
co
n
n
ec
tiv
ity
p
r
o
v
id
es
d
ata
co
m
m
u
n
icatio
n
b
etwe
en
th
e
UAVs
an
d
I
o
T
d
ev
ices.
T
h
e
OL
SR
r
o
u
ti
n
g
p
r
o
to
co
l
is
u
s
ed
f
o
r
d
ata
tr
af
f
ic
f
o
r
th
e
lack
o
f
ac
ce
s
s
to
th
e
SDN
co
n
tr
o
ller
.
T
h
e
O
L
SR
r
o
u
t
in
g
p
r
o
to
co
l
p
r
o
v
id
e
s
an
ap
p
r
o
p
r
iate
r
esp
o
n
s
e
to
c
h
an
g
e
th
e
to
p
o
l
o
g
y
ev
en
ts
,
s
u
ch
as a
d
d
in
g
/r
em
o
v
i
n
g
UAV
n
o
d
es a
n
d
wir
eless
lin
k
s
am
o
n
g
th
em
.
Fig
u
r
e
3
.
I
ll
u
s
tr
atio
n
o
f
ASR
-
FANE
T
ar
ch
itectu
r
e
4.
P
E
RF
O
RM
A
NCE
E
VA
L
U
AT
I
O
N
T
o
d
em
o
n
s
tr
ate
th
e
p
er
f
o
r
m
a
n
ce
o
f
th
e
ASR
-
FANE
T
f
r
am
ewo
r
k
p
r
esen
ted
ab
o
v
e,
we
ch
o
s
e
o
n
e
r
ea
ctiv
e
r
o
u
tin
g
p
r
o
to
c
o
l
(
AODV
)
[
2
6
]
an
d
o
n
e
p
r
o
ac
tiv
e
r
o
u
tin
g
p
r
o
to
co
ls
(
OL
SR
)
[
2
7
]
.
T
h
ese
p
r
o
to
c
o
ls
ca
n
b
e
u
s
ed
to
ev
alu
ate
th
e
p
er
f
o
r
m
an
ce
ev
alu
atio
n
o
f
th
e
s
u
g
g
est
ed
f
r
am
ewo
r
k
f
o
r
d
y
n
am
ic
r
o
u
tin
g
f
o
r
FANE
T
n
etwo
r
k
.
T
h
e
f
o
llo
wi
n
g
m
etr
ics ar
e
u
s
ed
to
ev
alu
at
e
th
e
ef
f
ec
tiv
en
ess
o
f
ASR
-
FANE
T
f
r
am
ewo
r
k
:
−
T
h
r
o
u
g
h
p
u
t
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
8
I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
11
,
No
.
5
,
Octo
b
e
r
2
0
2
1
:
4
4
0
3
-
4
4
1
2
4408
−
Pack
ag
e
d
eliv
er
y
r
atio
(
PDF)
−
Pack
et
lo
s
s
(
PL)
−
No
r
m
alize
d
r
o
u
tin
g
lo
a
d
(
NR
L
)
−
E
n
d
to
e
n
d
d
ela
y
(
E
2
E
Dela
y
)
4
.1
.
Sim
ula
t
i
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itectu
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ich
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-
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ased
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d
r
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ile
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ter
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m
o
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d
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r
o
u
ti
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g
p
r
o
to
co
ls
(
AODV
an
d
OL
SR
)
.
R
esu
lt
s
o
f
th
e
Evaluation Warning : The document was created with Spire.PDF for Python.
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e
b
ased
I
o
T
ap
p
licatio
n
.
RE
F
E
R
E
NC
E
S
[1
]
L.
G
u
p
ta,
R.
Ja
in
a
n
d
G
.
Va
sz
k
u
n
,
“
S
u
rv
e
y
o
f
Im
p
o
rtan
t
Iss
u
e
s
in
UA
V
Co
m
m
u
n
ica
ti
o
n
Ne
tw
o
rk
s,
”
i
n
IEE
E
Co
mm
u
n
ica
ti
o
n
s
S
u
rv
e
y
s
and
T
u
t
o
ria
ls
,
v
o
l.
1
8
,
n
o
.
2
,
p
p
.
1
1
2
3
-
1
1
5
2
,
S
e
c
o
n
d
q
u
a
rter
2
0
1
6
,
d
o
i:
1
0
.
1
1
0
9
/COM
S
T.
2
0
1
5
.
2
4
9
5
2
9
7
.
[2
]
H.
S
h
a
k
h
a
tre
h
e
t
a
l
.,
“
Un
m
a
n
n
e
d
Ae
rial
Ve
h
icle
s
(UA
Vs
):
A
S
u
rv
e
y
o
n
Ci
v
il
Ap
p
li
c
a
ti
o
n
s
a
n
d
Ke
y
Re
se
a
rc
h
Ch
a
ll
e
n
g
e
s,
”
i
n
IEE
E
Acc
e
ss
,
v
o
l.
7
,
p
p
.
4
8
5
7
2
-
4
8
6
3
4
,
2
0
1
9
,
d
o
i:
1
0
.
1
1
0
9
/ACCES
S
.
2
0
1
9
.
2
9
0
9
5
3
0
.
[3
]
I.
Be
k
m
e
z
c
i,
O.
K.
S
a
h
in
g
o
z
,
a
n
d
S
.
Tem
e
l,
“
F
ly
i
n
g
a
d
-
h
o
c
n
e
tw
o
rk
s
(F
AN
ET
s):
A
su
r
v
e
y
.
A
d
Ho
c
Ne
two
rk
s,
”
v
o
l.
11
,
n
o
.
3
,
p
p
.
1
2
5
4
-
1
2
7
0
,
d
o
i
:
d
o
i.
o
r
g
/1
0
.
1
0
1
6
/
j
.
a
d
h
o
c
.
2
0
1
2
.
1
2
.
0
0
4
.
[4
]
O.
K.
S
a
h
i
n
g
o
z
,
“
Ne
two
r
k
in
g
m
o
d
e
ls
in
fly
in
g
a
d
-
h
o
c
n
e
tw
o
rk
s
(
F
AN
ET
s):
Co
n
c
e
p
ts
a
n
d
c
h
a
ll
e
n
g
e
s
,
”
J
o
u
r
n
a
l
o
f
In
telli
g
e
n
t
a
n
d
Ro
b
o
ti
c
S
y
ste
ms
,
v
o
l.
74
,
n
o
.
1
-
2
,
p
p
.
5
1
3
-
5
2
7
,
2
0
1
4
,
d
o
i:
1
0
.
1
0
0
7
/s
1
0
8
4
6
-
0
1
3
-
9
9
5
9
-
7
.
[5
]
M
.
A.
Kh
a
n
,
S
.
M
.
Riaz
,
R.
M
.
As
if,
a
n
d
A.
S
h
a
h
,
“
Re
v
iew
o
f
c
o
m
m
u
n
ica
ti
o
n
p
ro
t
o
c
o
ls
f
o
r
F
AN
ET
s:(F
ly
i
n
g
a
d
-
h
o
c
n
e
tw
o
rk
s)
,
”
I
n
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
En
g
i
n
e
e
rin
g
a
n
d
Eme
rg
in
g
T
e
c
h
n
o
lo
g
ies
,
2
0
1
5
.
[6
]
M
.
B
.
Ya
ss
e
in
a
n
d
N.
Alh
u
d
a
,
“
F
ly
in
g
a
d
-
h
o
c
n
e
tw
o
rk
s:
Ro
u
ti
n
g
p
ro
t
o
c
o
ls,
m
o
b
il
it
y
m
o
d
e
ls,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
Ad
v
a
n
c
e
d
C
o
m
p
u
ter
S
c
ien
c
e
a
n
d
Ap
p
li
c
a
ti
o
n
s
(IJ
AC
S
A)
,
n
o
.
7
,
n
o
.
6
,
2
0
1
6
,
d
o
i:
1
0
.
1
4
5
6
9
/IJACSA.
2
0
1
6
.
0
7
0
6
2
1
.
[7
]
O.
K.
S
a
h
in
g
o
z
,
"
M
o
b
il
e
n
e
two
rk
in
g
with
UA
Vs
:
Op
p
o
rt
u
n
it
ies
a
n
d
c
h
a
ll
e
n
g
e
s,"
2
0
1
3
I
n
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
Un
ma
n
n
e
d
Ai
rc
ra
f
t
S
y
ste
ms
(ICUAS
)
,
Atla
n
ta,
G
A,
USA,
2
0
1
3
,
p
p
.
9
3
3
-
9
4
1
,
d
o
i:
1
0
.
1
1
0
9
/ICUAS.
2
0
1
3
.
6
5
6
4
7
7
9
.
[8
]
M
.
H.
Tare
q
u
e
,
M
.
S
.
Ho
ss
a
in
,
a
n
d
M
.
At
iq
u
z
z
a
m
a
n
,
“
On
th
e
ro
u
ti
n
g
in
F
ly
i
n
g
A
d
Ho
c
Ne
two
rk
s,
”
2
0
1
5
Fed
e
ra
ted
Co
n
fer
e
n
c
e
o
n
C
o
mp
u
ter
S
c
ien
c
e
a
n
d
I
n
fo
rm
a
t
io
n
S
y
ste
ms
(Fed
CS
IS
)
,
L
o
d
z
,
P
o
la
n
d
,
2
0
1
5
,
p
p
.
1
-
9
,
d
o
i:
1
0
.
1
5
4
3
9
/
2
0
1
5
F
0
0
2
.
[9
]
O.
S
.
Ou
b
b
a
ti
,
M
.
Atiq
u
z
z
a
m
a
n
,
P
.
Lo
re
n
z
,
M
.
H.
Tare
q
u
e
a
n
d
M
.
S
.
Ho
ss
a
in
,
“
Ro
u
ti
n
g
i
n
F
ly
i
n
g
Ad
H
o
c
Ne
two
rk
s:
S
u
r
v
e
y
,
Co
n
stra
in
ts,
a
n
d
F
u
t
u
re
Ch
a
ll
e
n
g
e
P
e
rsp
e
c
ti
v
e
s,
”
in
IEE
E
Acc
e
ss
,
v
o
l.
7
,
p
p
.
8
1
0
5
7
-
8
1
1
0
5
,
2
0
1
9
,
d
o
i:
1
0
.
1
1
0
9
/ACCE
S
S
.
2
0
1
9
.
2
9
2
3
8
4
0
.
[1
0
]
Y.
Li
u
,
H.
N.
Da
i,
Q.
Wan
g
,
M
.
K.
S
h
u
k
la,
a
n
d
M.
Im
ra
n
,
“
Un
m
a
n
n
e
d
a
e
rial
v
e
h
icle
f
o
r
in
tern
e
t
o
f
e
v
e
ry
t
h
i
n
g
:
Op
p
o
r
tu
n
it
ies
a
n
d
c
h
a
ll
e
n
g
e
s
,
”
Co
mp
u
ter
Co
mm
u
n
ica
ti
ons
,
v
o
l.
1
5
5
,
p
p
.
6
6
-
8
3
,
2
0
2
0
,
d
o
i:
1
0
.
1
0
1
6
/j
.
c
o
m
c
o
m
.
2
0
2
0
.
0
3
.
0
1
7
.
[1
1
]
A.
D.
B
o
u
rsia
n
is
e
t
a
l
.
,
“
In
ter
n
e
t
o
f
Th
i
n
g
s
(Io
T)
a
n
d
A
g
ricu
lt
u
ra
l
Un
m
a
n
n
e
d
Ae
rial
Ve
h
icle
s
(U
AV
s)
in
S
m
a
rt
F
a
rm
in
g
:
A C
o
m
p
re
h
e
n
si
v
e
Re
v
i
e
w
,
”
In
ter
n
e
t
o
f
T
h
i
n
g
s
,
p
.
1
0
0
1
8
7
,
2
0
2
0
,
d
o
i:
1
0
.
1
0
1
6
/
j.
i
o
t.
2
0
2
0
.
1
0
0
1
8
7
.
[1
2
]
M
.
M
o
z
a
ffa
ri,
W.
S
a
a
d
,
M
.
Be
n
n
is
,
a
n
d
M
.
De
b
b
a
h
,
“
M
o
b
il
e
U
n
m
a
n
n
e
d
Ae
rial
Ve
h
icle
s
(UA
V
s)
fo
r
En
e
rg
y
-
Eff
icie
n
t
I
n
tern
e
t
o
f
T
h
in
g
s
C
o
m
m
u
n
ica
ti
o
n
s,
”
i
n
I
EE
E
T
ra
n
sa
c
ti
o
n
s
o
n
W
ire
les
s
Co
mm
u
n
ica
ti
o
n
s
,
v
o
l.
1
6
,
n
o
.
1
1
,
p
p
.
7
5
7
4
-
7
5
8
9
,
No
v
.
2
0
1
7
,
d
o
i:
1
0
.
1
1
0
9
/T
WC
.
2
0
1
7
.
2
7
5
1
0
4
5
.
[1
3
]
M
.
F
.
Kh
a
n
,
K.
L
.
A.
Ya
u
,
R.
M
.
No
o
r,
a
n
d
M
.
A.
Im
ra
n
,
“
Ro
u
ti
n
g
sc
h
e
m
e
s
in
F
AN
ET
s:
A
su
rv
e
y
,
”
S
e
n
so
rs
,
v
o
l.
20
,
n
o
.
1
,
p
p
.
38
,
d
o
i:
1
0
.
3
3
9
0
/s2
0
0
1
0
0
3
8
.
[1
4
]
M
.
A.
Kh
a
n
,
I.
U.
Kh
a
n
,
A.
S
a
fi,
a
n
d
I.
M
.
Qu
e
rsh
i
,
“
Dy
n
a
m
ic
ro
u
ti
n
g
in
fly
i
n
g
a
d
-
h
o
c
n
e
two
r
k
s
u
sin
g
t
o
p
o
lo
g
y
-
b
a
se
d
ro
u
ti
n
g
p
ro
t
o
c
o
ls
,
”
Dr
o
n
e
s
,
v
o
l
.
2
,
n
o
.
3
,
p
p
.
27
,
2
0
1
8
,
d
o
i:
1
0
.
3
3
9
0
/d
r
o
n
e
s2
0
3
0
0
2
7
.
[1
5
]
S
.
Be
ra
,
S
.
M
isra
a
n
d
A.
V.
Va
silak
o
s,
“
S
o
ftwa
re
-
De
fin
e
d
Ne
two
r
k
in
g
f
o
r
In
ter
n
e
t
o
f
Th
i
n
g
s:
A
S
u
rv
e
y
,
”
in
IEE
E
In
ter
n
e
t
o
f
T
h
in
g
s J
o
u
r
n
a
l
,
v
o
l.
4
,
n
o
.
6
,
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8
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9
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