skip to main content
tutorial

A Comparative Study of Recent Wireless Sensor Network Simulators

Published:26 July 2016Publication History
Skip Abstract Section

Abstract

Over recent years, the continuous interest in wireless sensor networks (WSNs) has led to the appearance of new modeling methods and simulation environments for WSN applications. A broad variety of different simulation tools have been designed to explore and validate WSN systems before actual implementation and real-world deployment. These tools address different design aspects and offer various simulation abstractions to represent and model real-world behavior. In this article, we present a comprehensive comparative study of mainstream open-source simulation tools for WSNs. Two benchmark applications are designed to evaluate the frameworks with respect to the simulation runtime performance, network throughput, communication medium modeling, packet reception rate, network latency, and power consumption estimation accuracy. Such metrics are also evaluated against measurements on physical prototypes. Our experiments show that the tools produce equivalent results from a functional point of view and capacity to model communication phenomena, while the ability to model details of the execution platform significantly impacts the runtime simulation performance and the power estimation accuracy. The benchmark applications are also made available in the public domain for further studies.

References

  1. P. Baldwin, S. Kohli, A. L. Edward, X. Liu, and Y. Zhao. 2005. VisualSense: Visual Modeling for Wireless and Sensor Network Systems. Technical Memorandum UCB/ERL M05/25. University of California, Berkeley, CA.Google ScholarGoogle Scholar
  2. R. Barr, J. Haas Zygmunt, and R. van Renesse. 2005. JiST: An efficient approach to simulation using virtual machines. Software: Practice and Experience 35, 6 (2005), 539--576. Google ScholarGoogle ScholarDigital LibraryDigital Library
  3. M. Baz and D. A. J. Pearce. 2011. An introduction to DANSE. In Proceedings of the 12th Annual PostGraduate Symposium on the Convergence of Telecommunications, Networking and Broadcasting.Google ScholarGoogle Scholar
  4. A. Bonivento, L. P. Carloni, and A. L. Sangiovanni-Vincentelli. 2006. Platform based design for wireless sensor networks. Mobile Networks and Applications 11, 4 (August 2006), 469--485. Google ScholarGoogle ScholarDigital LibraryDigital Library
  5. A. Boulis. 2007. Castalia: Revealing pitfalls in designing distributed algorithms in WSN. In Proceedings of the 5th International Conference on Embedded Networked Sensor Systems (SenSys’07). 407--408. Google ScholarGoogle ScholarDigital LibraryDigital Library
  6. A. Boulis and Y. Tselishchev. 2011. Effects of carrier sense modeling on wireless network simulation results. In Proceedings of the 14th ACM International Conference on Modeling, Analysis and Simulation of Wireless and Mobile Systems (MSWiM’11). 129--134. DOI:http://dx.doi.org/10.1145/2068897.2068921 Google ScholarGoogle ScholarDigital LibraryDigital Library
  7. B. Chen, K. Jamieson, H. Balakrishnan, and R. Morris. 2002a. Span: An energy-efficient coordination algorithm for topology maintenance in ad hoc wireless networks. Wireless Networks 8, 5 (2002), 481--494. Google ScholarGoogle ScholarDigital LibraryDigital Library
  8. G. Chen, B. K. Szymanski, E. Yücesan, C. Chen, J. L. Snowdon, and J. M. Charnes. 2002b. Cost: A component-oriented discrete event simulator. In Proceedings of the 34th Winter Simulation Conference: Exploring New Frontiers, Vol. 1. ACM, 776--782. Google ScholarGoogle ScholarDigital LibraryDigital Library
  9. E. Cheong, E. A. Lee, and Y. Zhao. 2005. Viptos: A graphical development and simulation environment for TinyOS-based wireless sensor networks. In Proceedings of the 3rd International Conference on Embedded Networked Sensor Systems (SenSys’05). 302--302. Google ScholarGoogle ScholarDigital LibraryDigital Library
  10. A. Davare, D. Densmore, L. Guo, R. Passerone, A. L. Sangiovanni-Vincentelli, A. Simalatsar, and Q. Zhu. 2013. metroII: A design environment for cyber-physical systems. ACM Transactions on Embedded Computing Systems 12, 1s (March 2013), 49:1--49:31. Google ScholarGoogle ScholarDigital LibraryDigital Library
  11. I. Dietrich and F. Dressler. 2009. On the lifetime of wireless sensor networks. ACM Transactions on Sensor Networking 5, 1, Article 5 (February 2009), 39 pages. DOI:http://dx.doi.org/10.1145/1464420.1464425 Google ScholarGoogle ScholarDigital LibraryDigital Library
  12. I. T. Downard. 2004. Simulating Sensor Networks in NS-2. Technical Report. Naval Research Laboratory, Network and Communication Systems Information Technology Division, Washington, DC.Google ScholarGoogle Scholar
  13. A. Dunkels, B. Gronvall, and T. Voigt. 2004. Contiki - a lightweight and flexible operating system for tiny networked sensors. In Proceedings of the 29th IEEE Conference on Local Computer Networks. 455--462. Google ScholarGoogle ScholarDigital LibraryDigital Library
  14. E. Egea-Lopez, J. Vales-Alonso, A. Martinez-Sala, P. Pavon-Marino, and J. Garcia-Haro. 2005. Simulation tools for wireless sensor networks. In Proceedings of the International Symposium on Performance Evaluation of Computer and Telecommunication Systems.Google ScholarGoogle Scholar
  15. J. Eriksson, F. Osterlind, T. Voigt, N. Finne, S. Raza, N. Tsiftes, and A. Dunkels. 2009. Accurate power profiling of sensornets with the COOJA MSPSim simulator. In Proceedings of the 6th IEEE Conference on Mobile Adhoc and Sensor Systems. IEEE, 1060--1061.Google ScholarGoogle Scholar
  16. E. Eyisi, J. Bai, D. Riley, J. Weng, Y. Wei, Y. Xue, X. D. Koutsoukos, and J. Sztipanovits. 2012. NCSWT: An integrated modeling and simulation tool for networked control systems. In Proceedings of the 15th International Conference on Hybrid Systems: Computation and Control (HSCC’12). Google ScholarGoogle ScholarDigital LibraryDigital Library
  17. L. Girod, T. Stathopoulos, N. Ramanathan, J. Elson, D. Estrin, E. Osterweil, and T. Schoellhammer. 2004. A system for simulation, emulation, and deployment of heterogeneous sensor networks. In Proceedings of the 2nd International Conference on Embedded Networked Sensor Systems (SenSys’04). ACM, New York, NY, 201--213. DOI:http://dx.doi.org/10.1145/1031495.1031519 Google ScholarGoogle ScholarDigital LibraryDigital Library
  18. T. Grötker, S. Liao, G. Martin, and S. Swan. 2002. System Design with SystemC. Springer.Google ScholarGoogle Scholar
  19. C. Guillaume, F. Antoine, and E. Fleury. 2007. Worldsens: A fast and accurate development framework for sensor network applications. In Proceedings of the 22nd ACM Symposium on Applied Computing. 222--226. Google ScholarGoogle ScholarDigital LibraryDigital Library
  20. T. He, B. Blum, Y. Pointurier, C. Lu, J. A. Stankovic, and S. Son. 2006. MAC layer abstraction for simulation scalability improvements in large-scale sensor networks. In Proceedings of the 3rd International Conference on Networked Sensing Systems (INSS’06).Google ScholarGoogle Scholar
  21. T. R. Henderson, M. Lacage, and G. F. Riley. 2008. Network simulations with the ns-3 simulator. In Proceedings of the Special Interest Group on Data Communications. 527.Google ScholarGoogle Scholar
  22. IEEE Standard Association. 2006. IEEE 802.15.4-2006 Standard for information technology. IEEE Standard Association.Google ScholarGoogle Scholar
  23. D. Jung, T. Teixeira, and A. Savvides. 2009. Sensor node lifetime analysis: Models and tools. ACM Transactions Sensor Networking 5, 1, Article 3 (February 2009), 33 pages. DOI:http://dx.doi.org/10.1145/1464420.1464423 Google ScholarGoogle ScholarDigital LibraryDigital Library
  24. A. Kamthe, M. Á Carreira-Perpinán, and A. E. Cerpa. 2013. Improving wireless link simulation using multilevel markov models. ACM Transactions on Sensor Networks (TOSN) 10, 1 (2013), 17. Google ScholarGoogle ScholarDigital LibraryDigital Library
  25. I. Khemapech, A. Miller, I. Duncan, and N. Haugh. 2005. Simulating Wireless Sensor Networks. Technical Report. School of Computer Science, University of St Andrews.Google ScholarGoogle Scholar
  26. A. Köpke, M. Swigulski, K. Wessel, D. Willkomm, P. T. Klein Haneveld, T. E. V. Parker, O. W. Visser, H. S. Lichte, and S. Valentin. 2008. Simulating wireless and mobile networks in OMNeT++ the MiXiM vision. In Proceedings of the 1st International Conference on Simulation Tools and Techniques for Communications, Networks and Systems & Workshops (Simutools’’08). 71:1--71:8. Google ScholarGoogle ScholarDigital LibraryDigital Library
  27. M. Korkalainen, M. Sallinen, N. Kärkkäinen, and P. Tukeva. 2009. Survey of wireless sensor networks simulation tools for demanding applications. In Proceedings of the 5th International Conference on Networking and Services. 102--106. Google ScholarGoogle ScholarDigital LibraryDigital Library
  28. M. Kuorilehto, M. Kohvakka, J. Suhonen, P. Hamalainen, M. Hannikainen, and T. D. Hamalainen. 2008. Ultra-Low Energy Wireless Sensor Networks in Practice. Theory, Realization and Deployment. John Wiley & Sons Ltd, England. Google ScholarGoogle ScholarDigital LibraryDigital Library
  29. O. Landsiedel, K. Wehrle, and S. Gotz. 2005. Accurate prediction of power consumption in sensor networks. In Proceedings of the 2nd IEEE Workshop on Embedded Networked Sensors. 37--44. Google ScholarGoogle ScholarDigital LibraryDigital Library
  30. K. Langendoen and A. Meier. 2010. Analyzing MAC protocols for low data-rate applications. ACM Transactions on Sensor Networking 7, 2, Article 19 (Sept. 2010), 40 pages. DOI:http://dx.doi.org/10.1145/1824766.1824775 Google ScholarGoogle ScholarDigital LibraryDigital Library
  31. H. J. Lee, A. Cerpa, and P. Levis. 2007. Improving wireless simulation through noise modeling. In Proceedings of the 6th International Conference on Information Processing in Sensor Networks (IPSN’07). ACM, New York, NY, 21--30. DOI:http://dx.doi.org/10.1145/1236360.1236364 Google ScholarGoogle ScholarDigital LibraryDigital Library
  32. K. Leentvaar and J. Flint. 1976. The capture effect in FM receivers. IEEE Transactions on Communications, 24, 5 (May 1976), 531--539. DOI:http://dx.doi.org/10.1109/TCOM.1976.1093327Google ScholarGoogle ScholarCross RefCross Ref
  33. J. Lessmann, T. Heimfarth, and P. Janacik. 2008a. ShoX: An easy to use simulation platform for wireless networks. In Proceedings of the 10th EUROS/UKSim International Conference on Computer Modelling and Simulation. IEEE, 410--415. Google ScholarGoogle ScholarDigital LibraryDigital Library
  34. J. Lessmann, P. Janacik, L. Lachev, and D. Orfanus. 2008b. Comparative study of wireless network simulators. In Proceedings of the 7th International Conference on Networking. 517--523. Google ScholarGoogle ScholarDigital LibraryDigital Library
  35. P. Levis, N. Lee, M. Welsh, and D. Culler. 2003. TOSSIM: Accurate and scalable simulation of entire TinyOS applications. In Proceedings of the 1st International Conference on Embedded Networked Sensor Systems (SenSys’03). 126--137. Google ScholarGoogle ScholarDigital LibraryDigital Library
  36. P. Levis, S. Madden, D. Gay, J. Polastre, R. Szewczyk, A. Woo, E. A. Brewer, and D. E. Culler. 2004. The emergence of networking abstractions and techniques in TinyOS. In Proceedings of the 1st Symposium on Networked Systems Design and Implementation. 1--14. Google ScholarGoogle ScholarDigital LibraryDigital Library
  37. B. Li, Z. Sun, K. Mechitov, G. Hackmann, C. Lu, S. Dyke, G. Agha, and B. Spencer. 2013. Realistic case studies of wireless structural control. In Proceedings of the ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS’13). Google ScholarGoogle ScholarDigital LibraryDigital Library
  38. X. Liu, Y. Xiong, and E. A. Lee. 2001. The ptolemy II framework for visual languages. In Proceedings of the International Symposium on Human-Centric Computing Languages and Environments. 50. Google ScholarGoogle ScholarDigital LibraryDigital Library
  39. I. Minakov and R. Passerone. 2013. PASES: An energy-aware design space exploration framework for wireless sensor networks. Journal of Systems Architecture 59, 8 (September 2013), 626--642. DOI:http://dx.doi.org/10.1109/JSEN.2013.2263962 Google ScholarGoogle ScholarDigital LibraryDigital Library
  40. I. Minakov, R. Passerone, A. Rizzardi, and S. Sicari. 2016. Routing behavior across WSN simulators: The AODV case study. In Proceedings of the 12th IEEE World Conference on Factory Communication Systems (WFCS’16).Google ScholarGoogle Scholar
  41. L. Mottola, G. P. Picco, M. Ceriotti, Ş. Gunǎ, and A. L. Murphy. 2010. Not all wireless sensor networks are created equal: A comparative study on tunnels. ACM Transactions on Sensor Networks 7, 2, Article 15 (September 2010), 33 pages. DOI:http://dx.doi.org/10.1145/1824766.1824771 Google ScholarGoogle ScholarDigital LibraryDigital Library
  42. G. Myklebust. 2004. The AVR Microcontroller and C Compiler Co-Design. Technical Report. ATMEL Corporation, Trondheim, Norway.Google ScholarGoogle Scholar
  43. opnet. 2014. OPNET. http://www.opnet.com/. (Accessed December 2014).Google ScholarGoogle Scholar
  44. F. Osterlind, A. Dunkels, J. Eriksson, N. Finne, and T. Voigt. 2006. Cross-level sensor network simulation with COOJA. In Proceedings of the 31st IEEE Conference on Local Computer Networks. 641--648.Google ScholarGoogle Scholar
  45. L. Palopoli, R. Passerone, and T. Rizano. 2011. Scalable off-line optimization of industrial wireless sensor networks. IEEE Transactions on Industrial Informatics 7, 2 (May 2011), 328--339.Google ScholarGoogle ScholarCross RefCross Ref
  46. D. Pediaditakis, Y. Tselishchev, and A. Boulis. 2010. Performance and scalability evaluation of the castalia wireless sensor network simulator. In Proceedings of the 3rd International Conference on Simulation Tools and Techniques. 53. Google ScholarGoogle ScholarDigital LibraryDigital Library
  47. E. Perla, A. Ó Catháin, R. S. Carbajo, M. Huggard, and C. McGoldrick. 2008. PowerTOSSIM: Realistic energy modelling for wireless sensor network environments. In Proceedings of the 3rd ACM Workshop on Performance Monitoring and Measurement of Heterogeneous Wireless and Wired Networks (PM2HW2N’08). 35--42. Google ScholarGoogle ScholarDigital LibraryDigital Library
  48. A. Pinto, A. Bonivento, A. L. Sangiovanni-Vincentelli, R. Passerone, and M. Sgroi. 2006. System level design paradigms: Platform-based design and communication synthesis. ACM Transactions on Design Automation of Electronic Systems 11, 3 (July 2006), 537--563. Google ScholarGoogle ScholarDigital LibraryDigital Library
  49. J. Polastre, R. Szewczyk, and D. E. Culler. 2005. Telos: Enabling ultra-low power wireless research. In Proceedings of the 4th International Symposium on Information Processing in Sensor Networks (IPSN’05). 364--369. Google ScholarGoogle ScholarDigital LibraryDigital Library
  50. T. S. Rappaport. 2002. Wireless Communications: Principles and Practice (2nd ed.). Prentice Hall PTR, NJ. Google ScholarGoogle ScholarDigital LibraryDigital Library
  51. M. Rossi, L. Rizzon, M. Fait, R. Passerone, and D. Brunelli. 2014. Energy neutral wireless sensing for server farms monitoring. IEEE Journal on Emerging and Selected Topics in Circuits and Systems 4, 3 (September 2014), 324--334.Google ScholarGoogle ScholarCross RefCross Ref
  52. L. Shu, M. Hauswirth, H.-C. Chao, M. Chen, and Y. Zhang. 2011. NetTopo: A framework of simulation and visualization for wireless sensor networks. Ad Hoc Networks 9, 5 (2011), 799--820. Google ScholarGoogle ScholarDigital LibraryDigital Library
  53. Simpy. 2013. Simpy. http://simpy.sourceforge.net/. (Accessed April 2013).Google ScholarGoogle Scholar
  54. Simulink. 2015. Simulink. http://it.mathworks.com/. (Accessed January 2015).Google ScholarGoogle Scholar
  55. C. P. Singh, O. P. Vyas, and M. K. Tiwari. 2008. A survey of simulation in sensor networks. In Proceedings of the International Conference on Computational Intelligence for Modelling Control Automation. 867--872. Google ScholarGoogle ScholarDigital LibraryDigital Library
  56. A. Sobeih, M. Viswanathan, D. Marinov, and J. C. Hou. 2007. J-sim: An integrated environment for simulation and model checking of network protocols. In Proceedings of the 21st IEEE International Parallel and Distributed Processing Symposium. 1--6.Google ScholarGoogle Scholar
  57. A. Somov, I. Minakov, A. Simalatsar, G. Fontana, and R. Passerone. 2009. A methodology for power consumption evaluation of wireless sensor networks. In Proceedings of the 12st IEEE International Conference on Emerging Technologies and Factory Automation. 1--8. Google ScholarGoogle ScholarDigital LibraryDigital Library
  58. K. Srinivasan, P. Dutta, A. Tavakoli, and P. Levis. 2010. An empirical study of low-power wireless. ACM Transactions on Sensor Networks 6, 2, Article 16 (March 2010), 49 pages. DOI:http://dx.doi.org/10.1145/1689239.1689246 Google ScholarGoogle ScholarDigital LibraryDigital Library
  59. B. K. Szymanski and G. G. Chen. 2007. Handbook of Dynamic System Modeling. CRC/Taylor and Francis Publishing.Google ScholarGoogle Scholar
  60. Texas Instruments Corporation. 2006. MSP430x1xx Family. User’s Guide, SLAU094F. Texas Instruments Corporation.Google ScholarGoogle Scholar
  61. Texas Instruments Corporation. 2013. SWRS041c - 2.4 GHz IEEE 802.15.4 ZigBee-ready RF Transceiver (revision c ed.). Texas Instruments Corporation.Google ScholarGoogle Scholar
  62. A. Timm-Giel, K. Murray, M. Becker, C. Lynch, C. Gorg, and D. Pesch. 2008. Comparative simulations of WSN. In Proceedings of ICT Mobile and Wireless Communications Summit.Google ScholarGoogle Scholar
  63. B. L. Titzer, D. K. Lee, and J. Palsberg. 2005. Avrora: Scalable sensor network simulation with precise timing. In Proceedings of the 4th International Symposium on Information Processing in Sensor Networks (IPSN’05). 477--482. Google ScholarGoogle ScholarDigital LibraryDigital Library
  64. A. Varga. 2001. The OMNeT++ discrete event simulation system. In Proceedings of the 15th European Simulation Multiconference. The Society for Computer Simulation, International, Prague, Czech Republic, 319--324.Google ScholarGoogle Scholar
  65. D. Weber, J. Glaser, and S. Mahlknecht. 2007. Discrete event simulation framework for power aware wireless sensor networks. In Proceedings of the 5th IEEE International Conference on Industrial Informatics. 335--340.Google ScholarGoogle Scholar
  66. E. Weingartner, H. vom Lehn, and K. Wehrle. 2009. A performance comparison of recent network simulators. In Proceedings of the 5th IEEE International Conference on Communications. 1--5. Google ScholarGoogle ScholarDigital LibraryDigital Library

Index Terms

  1. A Comparative Study of Recent Wireless Sensor Network Simulators

            Recommendations

            Comments

            Login options

            Check if you have access through your login credentials or your institution to get full access on this article.

            Sign in

            Full Access

            • Published in

              cover image ACM Transactions on Sensor Networks
              ACM Transactions on Sensor Networks  Volume 12, Issue 3
              August 2016
              304 pages
              ISSN:1550-4859
              EISSN:1550-4867
              DOI:10.1145/2976745
              • Editor:
              • Chenyang Lu
              Issue’s Table of Contents

              Copyright © 2016 ACM

              Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

              Publisher

              Association for Computing Machinery

              New York, NY, United States

              Publication History

              • Published: 26 July 2016
              • Accepted: 1 March 2016
              • Revised: 1 November 2015
              • Received: 1 February 2015
              Published in tosn Volume 12, Issue 3

              Permissions

              Request permissions about this article.

              Request Permissions

              Check for updates

              Qualifiers

              • tutorial
              • Research
              • Refereed

            PDF Format

            View or Download as a PDF file.

            PDF

            eReader

            View online with eReader.

            eReader