Reliable, Real-Time Routing in Wireless Sensor and Actuator Networks

Algorithm 1

3R routing algorithm.

SET trp to zero

SET tmpProb to rp

WHILE trp < rp

 CALL Dijkstra with tmpProb on current graph

 WHILE routes satisfying timing constraints exist

  add new route to the packet

  increase trp by reaching probability of new route

  remove route's nodes from graph

  IF trp ≥ rp

   RETURN route has been found

  ENDIF

  CALL Dijkstra with tmpProb on current graph

 ENDWHILE

 tmpProb:= CALL relax reliability constraints

 IF tmpProb < 0

  RETURN no route has been found

 ENDIF

ENDWHILE