A Data Forwarding Scheme Based on Delaunay Triangulation for CPSs

Cyber-physical system (CPS) cooperates with physical processes and integrates computing, communication and control (3C) into multiple levels of cyber processing and operation management to streamline and fortify the operation of physical systems. One of the basic operations of CPS is to finish data gathering and forwarding by networking (often wireless) with intermittent network connectivity. Due to the unique characteristics, such as self-control, node mobility, and network intermittent connectivity, an algorithm for data forwarding in CPS is a considerably difficult and challenging problem and there are not any good solutions to it in the existing works. This paper proposes a fully-fledged data forwarding algorithm tailored to CPS environment. The proposed scheme, called DFDT (Data Forwarding based on Delaunay Triangulation), takes into account the computational geometry based on Delaunay triangulation to form a few triangular communities according to nodes' connectivity. Data in a community are forwarded to other nodes once a node comes into this community to increase the data delivery ratio. Simulation results show that DFDT does not only achieve a relatively lower data transmission overhead but also get the higher data forwarding ratio with lower data forwarding delay compared with the three existing popular data forwarding algorithms, namely Direct Transmission (DT), Epidemic (Flooding) and Spay and Wait (SpWt).