A Testbed for Experiments with Sensor/Actuator Networks

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ABSTRACT We describe a table-top testbed for experiments in mobile sensor networks. The testbed includes static nodes as well as robotic mobile nodes. The static beacon nodes are used for localization and multihop network setup. The static snooper nodes serve the purpose of debugging and visualizing the experiment at a later time. The snoopers passively listen to packets. Ground truth is provided by an overhead vision system, and the data logged by the snoopers are replayed to evaluate/debug the network using NAM.

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    ABSTRACT: We introduce an algorithm which detects and traces a specified level set of a scalar field (a contour) on a plane. A network of static sensor nodes with limited communication and processing are deployed in a planar environment along with a mobile node which can both sense and move. As the mobile node moves through the environment, it computes the local spatial gradient of the field by communicating with its immediate neighbors in the static sensor network. The algorithm causes the mobile node to perform gradient descent on the scalar field till it arrives at a location on the desired contour. From this point onwards, the algorithm drives the mobile node to trace the desired contour without departing from it. Experiments in simulation indicate that the required contour is found with reasonable accuracy (between 80-90%) for networks with node degree of greater than or equal to six. Our results also indicate that the paths generated by our algorithm are near-optimal in terms of the distance traversed by the mobile node. Our preliminary experimental results with a physical robot show that our algorithm is feasible.
    Robotics and Automation, 2007 IEEE International Conference on; 05/2007
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    ABSTRACT: Severe energy limitations, and a paucity of computation pose a set of difficult design challenges for sensor networks. Recent progress in two seemingly disparate research areas namely, distributed robotics and low power embedded systems has led to the creation of mobile (or robotic) sensor networks. Autonomous node mobility brings with it its own challenges, but also alleviates some of the traditional problems associated with static sensor networks. We illustrate this by presenting the design of the robomote, a robot platform that functions as a single mobile node in a mobile sensor network. We briefly describe two case studies where the robomote has been used for table top experiments with a mobile sensor network.
    Information Processing in Sensor Networks, 2005. IPSN 2005. Fourth International Symposium on; 05/2005

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May 23, 2014