Scheduling With Predictable Link Reliability for Wireless Networked Control

Predictable link reliability is required for wireless networked control, yet co-channel interference remains a major source of uncertainty in wireless link reliability. Formulated specifically for distributed predictable control of co-channel interference, the physical-ratio-K (PRK) interference model integrates the protocol model's locality and the physical model's high fidelity while addressing their weaknesses, and it transforms interference control in arbitrary networks to a problem involving coordination between close-by nodes only. To apply the PRK model in real-world settings, we design protocol PRKS that addresses the challenges of model instantiation and protocol signaling in PRK-based scheduling. In particular, PRKS uses a control-theoretic approach to instantiate the PRK model in dynamic uncertain networks, uses local signal maps to address the challenges of large interference range and anisotropic asymmetric wireless communication, and leverages the different timescales of PRK model adaptation and data transmission to decouple protocol signaling from data transmission. Through testbed-based measurement study, we show that, unlike existing scheduling protocols where link reliability is unpredictable and the ratio of links whose reliability meets application requirements can be as low as 0%, PRKS enables predictably high link reliability (e.g., 95%) for all the links in different network and environmental conditions without a priori knowledge of these conditions. Through local distributed coordination, PRKS also achieves a channel spatial reuse very close to what is enabled by the state-of-the-art centralized scheduler while ensuring the required link reliability. By ensuring the required link reliability in scheduling, PRKS also enables a lower communication delay and a higher network throughput than existing scheduling protocols.