Robomote: enabling mobility in sensor networks
IPSN '05 Proceedings of the 4th international symposium on Information processing in sensor networks
Low power or high performance? a tradeoff whose time has come (and nearly gone)
EWSN'12 Proceedings of the 9th European conference on Wireless Sensor Networks
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Robot platforms have been proposed to address challenges of wireless sensor network deployments in dynamic environments. Enabling a fraction of nodes to be mobile can lead to improvements in sensing coverage, network lifetime, and network connectivity. We present the design of ArmBot, a Cortex-M3 based robot platform, that natively supports TinyOS applications and system services. ArmBot is cost-efficient as it is built from off-the-shelf hardware components and versatile due to its power-efficient ARM processor core. We evaluate the platform in the context of core sensor network services, such as time-synchronization, and analyze its energy efficiency under varying mobility and computation loads.