The Cricket location-support system
MobiCom '00 Proceedings of the 6th annual international conference on Mobile computing and networking
Scalable Testbed for Next-Generation Wireless Networking Technologies
TRIDENTCOM '05 Proceedings of the First International Conference on Testbeds and Research Infrastructures for the DEvelopment of NeTworks and COMmunities
MiNT-m: an autonomous mobile wireless experimentation platform
Proceedings of the 4th international conference on Mobile systems, applications and services
Data backup for mobile nodes: a cooperative middleware and an experimentation platform
Architecting dependable systems VII
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A major barrier to advancing modern wireless networking research is the lack of an effective wireless network simulation platform that simultaneously offers high fidelity, scalability, reproducibility and ease of use. MiNT [8], [7] is an innovative wireless network emulation platform that is specifically designed to satisfy all these desirable properties. To support reconfigurable network topology and wireless node mobility, MiNT is built on a networked robot system that carries wireless networking equipments and is designed to be completely tetherless, capable of supporting 24X7 operation, and low-cost. This paper describes the design, implementation and evaluation of this networked robot system. Each robot node in MiNT is an iRobot's Roomba, which is modified to house an embedded PC equipped with multiple wireless networking interfaces and to re-charge the embedded PC through Roomba's built-in self-charging mechanism. For robot navigation and movement, MiNT's networked robot system supports a computer vision-based robot positioning mechanism and a collision avoidance-driven trajectory planning component. Finally, MiNT provides an interactive control interface and visualization interface to give users real-time visibility into and full control over the MiNT testbed.