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This paper introduces a novel middleware that enhances topic-based publish-subscribe systems by integrating spatial filtering and routing capabilities for IoT applications. By employing a flexible geometric method for spatial filters, the proposed system allows for expressive and efficient spatial subscriptions, facilitating location-dependent communication in Cyber-Physical Systems. Experimental evaluations reveal that the approach operates effectively with the MQTT5 protocol, achieving high efficiency and minimal overhead, making it practical for deployment on existing IoT devices.
Spatial filtering in IoT messaging can be achieved without altering existing protocols, unlocking new possibilities for location-aware 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.
