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This paper introduces a spatially-aware publish-subscribe middleware that enhances topic-based messaging in IoT applications by integrating spatial filtering and routing capabilities. By employing a flexible geometric method for spatial filters, the proposed system enables efficient and expressive spatial subscriptions while maintaining compatibility with the MQTT5 protocol. Experimental evaluations reveal that the approach achieves high system efficiency and low computational overhead, making it practical for deployment on existing IoT devices.
Spatially-aware messaging can now be seamlessly integrated into existing IoT systems without altering client implementations, unlocking new possibilities for location-dependent applications.
Spatial and proximity awareness are critical enablers for efficient communication in Cyber-Physical Systems (CPS) and the Internet of Things (IoT). However, the lack of suitable middleware support and standardized mechanisms for spatial awareness significantly limits the pervasiveness of location-dependent applications. In this paper, we present a novel approach that extends topic-based publish-subscribe, a dominant messaging model in this domain, with integrated spatial filtering and routing capabilities. Our approach leverages a highly flexible geometric method for describing spatial filters, enabling expressive and efficient spatial subscriptions. A geometric world model operates together with an enhanced topic-based broker to realize spatially constrained message dissemination. Importantly, this functionality is achieved using the MQTT5 protocol without violating the standard or requiring any modifications to existing client implementations. Experimental results based on both synthetic and real-world data demonstrate strong system efficiency, minimal computational overhead at the broker, and the practical feasibility of deploying the approach on existing IoT devices.