Void traversal for efficient non-planar geometric routing

Geometric routing provides a scalable and efficient way to route messages in ad hoc networks if extensive routing information is unavailable. Such algorithms require a planar graph to guarantee message delivery. The routing techniques for such guarantee usually center around the traversal of planar faces of the graph. However, in realistic wireless networks existing planarization methods, if at all applicable, tend to require extensive local storage or result in suboptimal route selection. In this paper we study an alternative approach of translating the algorithms themselves to be able to route messages over voids in non-planar graphs. We prove sufficient memory requirements for such translations. We then translate several well-known planar geometric routing algorithms and evaluate their performance in both static and mobile networks.