This paper presents the results of implementation of a novel protocol, Self-Healing Routing (SHR) for opportunistic
multi-hop wireless communication, on MicaZ sensor motes. The protocol uses broadcast communication and a
prioritized transmission back-off delay scheme to empower a receiving mote to use its hop distance from the destination
to decide autonomously whether to forward a packet. When severed routes are encountered, the protocol dynamically
and locally re-routes packets so they traverse the surviving shortest route.
We have implemented this protocol on a set of MicaZ motes as well as in the SENSE sensor network simulator and
conducted field testing with different mote and network configurations. We also tested scenarios with the motes turned
off (modeling permanent failures) and in simulation also temporarily off line (modeling transient failures). We compared
SHR with two traditional protocols: MintRoute and AODV. The results, as shown by experimental measurement and
simulations reported in the paper, demonstrate that Self-Healing Routing is an efficient fault-tolerant protocol that
performs well even with spontaneous network topology changes.
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