Reliable wireless communication is a basic enabler for networked sensing and control in many cyber-physical systems, yet co-channel interference is a major source of uncertainty in wireless communication. Integrating the protocol model's locality and the physical model's high fidelity, the physical ratio-K (PRK) interference model bridges the gap between the suitability for distributed implementation and the enabled scheduling performance in existing interference models, and it is expected to serve as a foundation for distributed, predictable interference control. To realize the potential of the PRK model, we address the challenges of distributed PRK based scheduling by proposing the protocol PRKS. PRKS uses a control-theoretic approach to instantiating the PRK model according to in-situ network and environmental conditions, and, through purely local coordination, the distributed controllers converge to a state where the desired link reliabilityis guaranteed.
PRKS uses local signal maps to address the challenges of anisotropic, asymmetric wireless communication and large interference range, and PRKS uses TDMA as well as separate control and data channels to address the inherent delay in protocol signaling and to avoid interference between protocol signaling and data transmissions. Through extensive experimental analysis, we observe that, unlike existing scheduling protocols where link reliability can be as low as 2.49%, PRKS enables predictably high link reliability (e.g., 95%) in different network and environmental conditions without a priori knowledge about these conditions, and, through local distributed coordination, PRKS achieves a throughput very close to what is enabled by the state-of-the-art centralized scheduler while ensuring the required link reliability.