On Reliability of the Extrema Propagation Technique in Random Environment
Abstract
We study the reliability of the following simple mechanism for spreading information in a communication network in the presence of random message loss. Initially, some nodes have information that they want to distribute throughout the network. Each node that has received the information tries to broadcast it to all its neighbors. However, due to interference or communication failures, each transmission between two nodes is broken independently with some fixed probability.
This transmission mechanism is the basis for the extrema propagation technique, proposed and analyzed in [2, 3, 10]. Extrema propagation is a simple but powerful method of spreading the extreme values stored by the nodes. In a fully reliable environment, only the number of rounds equal to the network diameter is required for all nodes to be informed. It was shown empirically in [2] that it also performs well in the presence of link failures and message loss. Extrema propagation is an algorithmic framework that was adopted for designing efficient method for distributed data aggregation, such as estimation of cardinalities, sums, and averages, estimation of data distribution via histograms and random sampling (cf. [3, 19]).
In this paper, we propose a formal network model in which random transmission failures occur and analyze the operation time of the extrema propagation technique for any connected network graph. We provide new general probabilistic upper bounds on the number of rounds needed to spread the extreme values that depend only on the number of nodes, the diameter of the network, and the probability of successful transmission. For some special families of graphs, we also derive specific, more accurate estimates. Our theoretical and experimental results confirm the reliability and efficiency of the extrema propagation technique in faulty or noisy environments.
Keywords and phrases:
wireless ad-hoc networks, extrema propagation, distributed data aggregation, fault tolerant aggregation, randomly evolving networksCopyright and License:
2012 ACM Subject Classification:
Networks Mobile ad hoc networks ; Computing methodologies Distributed algorithms ; Theory of computation Random network models ; Networks Network reliabilityEditors:
Silvia Bonomi, Letterio Galletta, Etienne Rivière, and Valerio SchiavoniSeries and Publisher:
Leibniz International Proceedings in Informatics, Schloss Dagstuhl – Leibniz-Zentrum für Informatik
1 Introduction
Extrema Propagation Technique (EPT), introduced in [3], is a simple but powerful method to find the maximal or minimal value of observations stored in nodes of the network. Here is a brief overview of this procedure. Assume that each node of a connected graph has some real number and suppose that the edges of the graph describe communication links between nodes. In the initial round of the considered algorithm, each node copies the value into the local variable and sends it to all its neighbors. Then, in each subsequent round, each node stores all the values received from its neighbors, calculates its minimum and if , then sends to all its neighbors and makes a substitution . It is clear that after rounds, where denotes the diameter of the graph , the algorithm stabilizes (no messages are sent over the network) and that for all , where .
The great advantage of this method is its ease of implementation. A trivial use of this method is to determine extreme values in sensor networks. Less trivial applications involve the use of systems of independent variables. For example, assume that the values are independent random variables that have a uniform distribution in the interval . Then the expected value of the random variable is , where . This fact can be used to derive an estimator of the number of vertices in the network. Here is another observation: If are independent random variables with exponential distribution with parameters , then the random variable is also exponentially distributed with parameter . This property can be used to derive an estimator of the sum of observed parameters . These interesting applications were discussed and analyzed in [2, 6].
The upper limit on the EPT operation time given by the diameter of the communication graph is true assuming full connection reliability. However, communication interference may occur in real systems. The aim of this paper is to provide simple formulas for the upper estimate of the EPT operation time, assuming that communication interruptions of individual channels are independent and occur with the same probability. Our formulas depend only on the number of nodes, the diameter of the graph, and the probability of successful transmission.
EPT also has reasonable communication complexity. For example, in [10], it was shown that in specific random settings the average number of messages sent by any node is . However, it should be noted that these results are true assuming complete reliability of the connections. We will briefly expand on this topic in the last section of this paper.
The results shown in this paper are applicable to each of the examples discussed in [2, 6] in situations where random interferences may occur during message exchange.
1.1 Notation and basic facts
We say that a random variable follows a geometric distribution () if takes values in the set of positive integers and for each . If , then and . A random variable follows an exponential distribution with parameter () if takes values in the set of positive reals and for each , , we have . If , then can be regarded as a discrete version of the distribution.
We say that a random variable follows a distribution if there exists a family of independent random variables such that for each and . Using elementary arguments it can be showed that if then
| (1) |
where . The special case of this equation applied to tells us that if , then . From Eq. (1) it is possible to determine the asymptotics of for small values of .
Similarly, we define the distribution : it is a maximum of independent copies of random variables with distribution . It is quite easy to derive a closed formula for the expected value of a random variable with distribution: it equals , where denotes the -th harmonic number. Formulas for expected values of random variables with for arbitrary are much more complicated (see, for example, [24]). But the above-mentioned connection between geometric distribution and exponential distribution gives the following upper and lower bounds for a random variable (see [15] for details):
| (2) |
which will be sufficient for our purposes. Recall that , where is the Euler-Mascheroni constant. We also notice that is as .
The difference between the exact value of and the number was investigated by several authors (see, e.g., [15, 28]). It appears that there are no limit distributions for this difference and that it has an oscillatory behavior. Among others, it was shown that asymptotically the difference is as .
We will use the following version of the geometric-arithmetic mean inequality:
| (3) |
as well as the Bernoulli inequality:
| (4) |
1.2 Related work
The extrema propagation technique (EPT), briefly described at the beginning of this section, was proposed and analyzed in [2, 3]. It is a fast and robust probabilistic method for estimating sums and cardinalities in distributed environments. It can be used in scenarios where neither the network topology nor its size is known to the nodes. The extreme propagation technique is efficient in terms of its message complexity. As shown in [10], the average number of messages sent by any station in any network with nodes is of order . EPT is one of the main building blocks of algorithms for distributed calculation of approximate histograms of sensory values, average estimation (including averaging of time-series data), and distributed random sampling, as discussed in [9, 19, 25].
The authors in [3] show that appropriately adjusted variants of the basic EPT procedure will also perform well in unreliable or noisy environments, where message loss, slow connections, and link failures occur. In recent years, the problem of fault-tolerant distributed data aggregation has received much attention. Many novel and efficient algorithms for both synchronous and asynchronous settings that are resistant to transmission loss or changes in network topology caused by node or link failures have been proposed and analyzed. The most important techniques are surveyed, among others, in [21, 22]. Examples are flow-updating [1, 23], the push-flow algorithm [16], some variants of the push-sum protocol for distributed consensus and average estimation [17, 20], or methods for estimating the distribution of sensory values [5, 27].
The probabilistic model of message loss or link failures proposed by us in Sect. 2 is closely related to the concept of dynamic networks. That is, wireless networks or other distributed systems whose topology varies over time, as nodes enter or leave the network, and some communication links are active only in some time intervals. There is a vast body of literature on highly dynamic distributed systems, in which some formal models based on randomly evolving graphs are introduced and protocols for fast information dissemination (including variations of randomized rumor spreading) and efficient data aggregation are proposed and analyzed; see, e.g., [4, 8, 12, 18, 26] and references therein. In [7] the authors surveyed existing formal models for dynamic networks and introduced the concept of time-varying graphs, which unifies many of the classical models. They also analyzed the most important properties of this framework.
In [13, 14] the idea of edge-Markovian dynamic graphs was introduced and discussed. This framework allows for modeling stochastic time dependence in communication networks. In an edge-Markovian dynamic graph each edge follows an independent two-state Markov chain switching between being active and non-active. The authors also analyzed the rate at which the information is spread across such networks. The study in [14] considered only complete graphs, resulting in tight asymptotic bounds for a wide range of parameters in such graphs.
1.3 Organization of the paper
The rest of this paper is organized as follows. The formal model of networks and communication along with some illustrative examples is presented in Sect. 2. In Sect. 3 we formulate and prove our main results that provide probabilistic upper bounds on the time of information propagation and discuss their accuracy. In Sect. 4 we derive more precise estimates for certain families of graphs. The results of the experimental evaluation of the accuracy of proposed estimates are presented in Sect. 5. In Sect. 6 we conclude our work and suggest some directions for future research.
2 Network Model
Let be a graph, and . By we denote the discrete-time stochastic process defined as a double-indexed sequence , where and , of pairwise independent Bernoulli random variables with probability of success . Unless otherwise stated, we assume that all network graphs considered in this paper are simple, finite, and connected.
The process can be described as a sequence of graphs where
Fix a process and a non-empty subset of . We define the process of flooding the information from the set as follows: we put and
The set consists of nodes that have been informed (activated) up to time (inclusive), assuming that at each time instant each transmission between two nodes is successful independently with probability . We are interested in the probabilistic properties of flooding time with source , defined as the random variable
i.e. is the first moment when all nodes of the graph are informed, given that at time the initially informed nodes form the set (source).
We will now discuss a certain property of the proposed model, which we will use repeatedly in future considerations. That is, suppose that is a graph. Let be a sequence of random binary variables from . Let and . Let be the restriction of to the edges of . Let be the flooding process defined by and let be the flooding process defined by . Then, by an easy induction argument we have for all . Therefore, . So, for example, if is a spanning tree of a connected graph , then the value of is an upper bound on .
Example 2.1.
Fix a positive integer . Consider the star graph with and . Consider the process and the set . Notice that in this case we can look independently at the process of disseminating information from vertex to vertex for each and that each such process has a geometric distribution with parameter . Therefore, the random variable has the distribution , so
for some . From this formula, we deduce that when is fixed and then we get .
Example 2.2.
Fix a positive integer . Consider the following graph where and (we will call this graph a double star graph; see Fig. 1). Consider the process and sets and . We will estimate the expected flooding time , where .
Let . It is clear that . The random variable can be interpreted as the first moment when node was informed by node (may be because this node was informed by another node before this time). From time our process behaves similarly to the process of flooding the information in from the set , hence it is similar to the process of Example 2.1 with probability replaced by (each of at most uninformed nodes can be activated independently either by or ). Therefore
from which we conclude that
for some . If is fixed and then . Therefore, for large values of , the considered process runs approximately twice as fast as the process for the star graph.
3 Upper bounds
In this section, we prove the main results of our paper – new upper bounds on the time of information propagation in any connected communication graph (Theorems 3.4 and 3.5). These bounds depend only on some global characteristics of the network, i.e., the number of nodes, its diameter, and probability of successful transmission. We also discuss their precision and applications. Before formulation of these results, we formulate two auxiliary lemmas.
Lemma 3.1.
Let be a star graph with vertices and root (as in Example 2.1). Let and denote . Then
if and only if
Proof.
Let denote the event , that is, “all the vertices are active after steps”. Then . Therefore,
Lemma 3.2.
Let and be an integer. Then
Proof.
Let . Observe that . Then . From the Bernoulli inequality (4) we get , so . Therefore , so
Corollary 3.3.
Let be the star graph with root and vertices and let . Then
where .
We now formulate and prove our main results characterizing the probabilistic upper bounds on the flooding time in any connected network graph with a single source node.
Theorem 3.4.
Suppose that is a connected graph with vertices, where and diameter . Let . Then for every we have
Proof.
Fix a connected graph with vertices. Let denote the distance function in this graph (that is, the length of the shortest path between the vertices). Fix a vertex and let be the eccentricity of . Clearly .
Let and for . Notice that . Fix and let be such that
| (5) |
From the Bernoulli inequality (4) we get
| (6) |
Consider the process that starts with and assume that at time we have (that is, all nodes at distance from have been informed up to time ). Letting , from Corollary 3.3 we deduce that at time
we have for any . In fact, each node in is connected to some informed node in , and the bound of the star graph carries over to this case. Let
and notice that
We have
(we used the geometric-arithmetic mean inequality (3) in the second line and inequality (6) in the third line). Therefore,
Theorem 3.5.
Suppose that is a connected graph with vertices, where . Let and . Then
Proof.
The proof is based on a similar reasoning as in the case of Theorem 3.4. Let , and . From Example 2.1 we can deduce that . Using the inequality and letting , we have
The upper bound on the expected flooding time given by Theorem 3.5 depends on the eccentricity of the initially informed vertex . However, one can easily derive a generalized version that holds for all vertices in a given graph.
Corollary 3.6.
Suppose that is a connected graph with vertices, where , and diameter . Then for any
| (7) |
Proof.
The eccentricity of any given vertex is bounded above by the diameter . Since the function is monotonically increasing on the interval , the bound (7) holds for every .
Example 3.7.
Example 3.8.
Let be the path graph with vertices and edges . The upper bound from Theorem 3.5 gives
Using the inequality (when ) we obtain the formula which is consistent with the exact value of the expectation of a random variable with a negative binomial distribution with parameters and up to a constant factor .
The above examples confirm that the upper estimate of the expected flooding time is relatively accurate. However, the next example shows that in some cases this bound is quite far from the actual value.
4 Fast transmission kernel
The upper bound from Eq. (7) for the flooding time for some dense graphs is poor. In fact, it was derived by splitting the graph into layers consisting of vertices at distance from the source, , and summing up the times required to inform all nodes from after all nodes from have been informed, as if none of them had received the information up to that time and was connected to only one node from (as mentioned in Sect. 2, the analysis can be restricted to some spanning tree rooted at the source node). This is an overestimate, especially in dense graphs, in which the information is disseminated much faster. In the extreme case, for the complete graph , it gives . However, it can be shown that for fixed and large we have .
Theorem 4.1.
Let denote the complete graph with vertices and let . Then
Here is an imprecise explanation of the above result: notice that and that ; moreover if then , so if then . Notice that this result can be summarized as follows: for fixed and large , the graph behaves like the cycle graph . Now we will present a refinement of the above heuristic.
Proof.
Let , and denote . Let , and . We will use the inequality . It holds because a complete graph contains a star graph and we can use the bound from Eq. (2). We will bound expected values from two sides.
Notice that , so , hence
hence .
Next, we note that
For the first term of this formula, we see . From the Chebyshev inequality applied to the binomial distribution, we get . Thus, we get
For the second term we notice that
Fix and suppose that . Then follows the binomial distribution . Let . Then . The function decreases on the interval , so for we have
so from the Markov inequality we get
Notice that if then . Hence,
which implies that
so
The stochastic process from Theorem 4.1 can be modeled as a Markov chain with the absorbing state as the state in which all nodes are informed. Using a formula for the expected number of steps before absorption, we calculated exact numerical values for . The results are shown in Fig. 2.
Example 4.2.
Fix and consider a graph with vertices divided into blocks , each of cardinality , and one additional vertex . We add two edges between and the vertices in and connect each vertex in with each vertex in , . This graph, which we call a double path graph, has vertices and diameter (see Fig. 3). From Eq. (7) we get the following bound:
Notice that for fixed and small this is close to . However, in this case, we can easily get a much better upper bound. That is, the time needed to spread the information from node to both nodes of the first block is bounded above by a random variable with distribution , so from Eq. (1) we get . Next, assuming that both nodes in are informed, the time needed to spread the information to both nodes in is bounded above by a random variable with distribution , so . Putting all this inequalities together we get
This upper bound for large and small is close to .
Example 4.3.
The examples given above show that in many cases we are able to derive upper bounds on the time of information propagation in a graph better than those that are formulated in the universal Theorems 3.4 and 3.5.
In many natural examples of communication graphs, dense fragments can be distinguished, in which the transfer of information, even in the presence of interference or random faults, is relatively fast. Such fragments can be complete graphs or, for example, fairly dense subsets similar to the graph in Example 4.2. They can be called fast communication kernels. In the following, we formulate a theorem that makes it easier to estimate the flooding time of information in such graphs.
Theorem 4.4.
Let be a connected graph with diameter , , and . Let . Suppose that
-
1.
-
2.
Then for all we have
Proof.
Let us consider and let be the random variable denoting the time needed to reach the set by a process of spreading information from the source . Let be a path from to some node from . The expected time to send the information only along the path is equal to , where is the length of . So . The time needed to spread the information throughout the whole set from the reached node is bonded by . At time we may treat all nodes of as a single node, so for the bound on the remaining time we may use Theorem 3.5, getting . Finally, using the inequality we obtain the final inequality.
5 Experiments
We conducted a series of experiments that exemplify our results. We compare the estimate of expected value of the flooding time acquired from experiments with general bounds from Theorem 3.5 and specific bounds derived for a given problem. To compare bounds, we used the relative error of the bound and the estimate of the expected value of the flooding time, defined as the ratio of the difference between them to the estimate of the expected value of the flooding time. We choose a small value of as to simulate a noisy environment in which a significant fraction of messages are lost.
For the path graph from Example 3.8 we can compare the bound from Theorem 3.5 with the exact value of . In Figure 4 we see that the bound as well as grow linearly as the number of nodes . The relative error is independent of and reaches a maximum at of .
For the double path graph from Example 4.2 we set the value of to and average over simulation runs for values of from to , the results are shown in Figure 5. We compare two bounds, the first from Theorem 3.5 and the second from the theoretical analysis presented in Example 4.2. We can observe in Fig. 4(a) that both estimates grow linearly as the number of nodes increases, but the specific upper bound acquired in Example 4.2 has a lower slope. Relative errors stabilize for larger .
We performed similar experiments for the double star graph from Example 2.2 (the average is taken over runs). The results are shown in Fig. 6. In this case, the estimate from Theorem 3.5 is worse than the upper bound derived in Example 2.2. However, note that both bounds capture the logarithmic asymptotic of the experimental data.
6 Conclusions and future work
In this work, we showed simple upper bounds for the necessary number of rounds needed to broadcast information in the connected graph in the case when the transmission disruption probabilities are the same and independent. These formulas are easy to use because they depend only on the diameter of the graph, the number of its vertices, the probability of error-free transmission, and the desired accuracy. We also showed in Sect. 4 how in some situations it is possible to obtain better upper bounds in non-uniform networks.
The upper bounds given in Sect. 3 use very little information about the graph structure. The examples considered by us suggest that the quality of these constraints depends on the density of the graphs. One of the goals of further research is to find simple formulas, similar to those in Section 3, that take into account another characteristic of the graph such as the minimum and maximum degrees of vertices.
The basic implementation of EPT-based algorithms is very simple for interference-free communication. It is based on the following simple idea: If in one round you hear a number smaller than the minimum observed so far, then in the next round send it to all your neighbors. This approach obviously fails if the communication is not completely error-free. A trivial but correct solution to this problem is to broadcast the observed minimum to all neighbors until the last round of the algorithm. The sufficient number of rounds can be determined using Theorem 3.4. We plan to use methods from [11] to improve this elementary idea.
Another possible direction of future research is to consider more complex models of transmission failures that, e.g., do not assume the full independence of communication errors or allow different probabilities of successful transmission for different edges. Such models can be better-suited for describing real-world systems, in which interference may occur in some fragment of the network at the same time (so transmission failures are spatially or temporally correlated), or different parts of the system may have different physical properties (e.g., certain areas may be affected by stronger disturbances). We expect that the methods from this paper can also be applied to these situations.
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