A Testbed for Experiments with Sensor/Actuator Networks

Mohammed Rahimi, Rohit Mediratta, Karthik Dantu, and Gaurav S. Sukhatme

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.