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Time can be absolute (ie referred to an external, well-known measure of time), or nodes can agree a common time reference This last case is useful in those cases when time is needed to compare the occurrence of events Navigation: robots using sensor networks open a new research area which includes the navigation of autonomous robots using distributed information as a relevant issue The navigation of the robot is possible even without carrying any sensor and just using the communications with the WSN Furthermore, it should be mentioned that these algorithms can also be used for the guidance of people with a suitable interface.

g, they can be guaranteed congestion free This feature eliminates any need to impose complex QoS technologies In addition, connection-oriented links allow users to use more efficient, but TCP-unfriendly, transport protocols Such flows would be problematic in a common layer 3 exchange Although other technologies also attempt to offer high-quality services with connectionless transport, such as Multi-Protocol Label Switching (MPLS) and Optical Burst Switching (OBS), these services do not match the performance of optical services for many required Grid services Second, there is an economic argument for this type of exchange connectionoriented technologies will always remain an order of magnitude cheaper because there is no need to look into headers at the datastream itself.

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Interactions This refers to the exchange of information among objects that enables the realization of the coordination and cooperation of objects: Coordination is a process that arises within a system when given (either internal or external) resources are simultaneously required by several components of this system In the case of autonomous robotic teams, there are two classic coordination issues to deal with: spatial and temporal coordination Cooperation can be de ned as a joint collaborative behavior that is directed toward some goal in which there is a common interest or reward Furthermore, a de nition for cooperative behavior could be: given some task speci ed by a designer, a CO system displays cooperative behavior if, due to some underlying mechanism (ie the mechanism of cooperation ), there is an increase in the total utility of the system.

Even as traditional facility components are becoming less expensive, optical components are also continuing to fall in price, and the relative price ratio is at least remaining constant (although there is an argument that optical component prices are falling faster) Many new technologies are being developed [7], such as Optical Add-Drop Multiplexers (OADM)s and advanced photonic devices that will provide powerful new capabilities to these environments Furthermore, the long-term forecast for optical network components is that they will become increasingly less expensive, including such key devices as optical shift registers [8] If current research projects develop optical routers, this type of facility would be able to take immediate advantage of their capabilities Third, it is more efficient to keep traffic that does not need any high-level functionality at the lowest layer possible.

Taxonomy Taxonomy consists of the classi cation of concepts according to speci c requirements and principles 34 Wireless sensor networks for environmental monitoring Technological advances as well as the advent of 4G communications and of pervasive and ubiquitous computing have fostered a renewed interest in multi-hop (ad hoc) communications In particular, the interest is in self-organizing wireless multihop networks composed of a possibly very large number of nodes These nodes can be either static or mobile, and are usually constrained in terms of power and computational capabilities A typical example of these kinds of networks are the WSNs [1, 2] In this case, the well-known paradigm of ad hoc networking specializes in considering a higher number of nodes (in the thousands and more) that are heavily resource-constrained.

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In particular, this will apply to relatively long (minutes or more) and high-bandwidth (gigabps or more) datastreams between a limited number of destinations Examples of these requirements are data replication processes and instrumentation Grids where huge datastreams must be collected at a central place (like the eVLBI project [9]) The packets in these streams do not need.

Rather than being on mobility, the emphasis is now on data transport from the sensors to other sensors, or to speci c data collection nodes (sinks) Sensor nodes are usually irreplaceable and become unusable after failure or energy depletion It is thus crucial to devise protocols for topology organization and control, MAC, routing and so on, that are energy conserving, scalable and able to prolong the overall network longevity, especially in networks with a large number of devices..

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