The nesC language: A holistic approach to networked embedded systems
PLDI '03 Proceedings of the ACM SIGPLAN 2003 conference on Programming language design and implementation
TOSSIM: accurate and scalable simulation of entire TinyOS applications
Proceedings of the 1st international conference on Embedded networked sensor systems
The flooding time synchronization protocol
SenSys '04 Proceedings of the 2nd international conference on Embedded networked sensor systems
Sympathy for the sensor network debugger
Proceedings of the 3rd international conference on Embedded networked sensor systems
Kansei: a testbed for sensing at scale
Proceedings of the 5th international conference on Information processing in sensor networks
Marionette: using RPC for interactive development and debugging of wireless embedded networks
Proceedings of the 5th international conference on Information processing in sensor networks
TWIST: a scalable and reconfigurable testbed for wireless indoor experiments with sensor networks
REALMAN '06 Proceedings of the 2nd international workshop on Multi-hop ad hoc networks: from theory to reality
Avrora: scalable sensor network simulation with precise timing
IPSN '05 Proceedings of the 4th international symposium on Information processing in sensor networks
MoteLab: a wireless sensor network testbed
IPSN '05 Proceedings of the 4th international symposium on Information processing in sensor networks
Clairvoyant: a comprehensive source-level debugger for wireless sensor networks
Proceedings of the 5th international conference on Embedded networked sensor systems
Castalia: revealing pitfalls in designing distributed algorithms in WSN
Proceedings of the 5th international conference on Embedded networked sensor systems
Dustminer: troubleshooting interactive complexity bugs in sensor networks
Proceedings of the 6th ACM conference on Embedded network sensor systems
Sensornet Checkpointing: Enabling Repeatability in Testbeds and Realism in Simulations
EWSN '09 Proceedings of the 6th European Conference on Wireless Sensor Networks
PDA: Passive distributed assertions for sensor networks
IPSN '09 Proceedings of the 2009 International Conference on Information Processing in Sensor Networks
Proceedings of the 7th ACM Conference on Embedded Networked Sensor Systems
Deployment support network a toolkit for the development of WSNs
EWSN'07 Proceedings of the 4th European conference on Wireless sensor networks
Passive inspection of sensor networks
DCOSS'07 Proceedings of the 3rd IEEE international conference on Distributed computing in sensor systems
T-check: bug finding for sensor networks
Proceedings of the 9th ACM/IEEE International Conference on Information Processing in Sensor Networks
KleeNet: discovering insidious interaction bugs in wireless sensor networks before deployment
Proceedings of the 9th ACM/IEEE International Conference on Information Processing in Sensor Networks
Efficient diagnostic tracing for wireless sensor networks
Proceedings of the 8th ACM Conference on Embedded Networked Sensor Systems
Proceedings of the 9th ACM Conference on Embedded Networked Sensor Systems
Opal: A Multiradio Platform for High Throughput Wireless Sensor Networks
IEEE Embedded Systems Letters
Proceedings of the 10th ACM Conference on Embedded Network Sensor Systems
Prius: generic hybrid trace compression for wireless sensor networks
Proceedings of the 10th ACM Conference on Embedded Network Sensor Systems
FlockLab: a testbed for distributed, synchronized tracing and profiling of wireless embedded systems
Proceedings of the 12th international conference on Information processing in sensor networks
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Development of wireless sensor network applications remains a challenge, due to lack of visibility into the global network state. Debugging instrumentation using printf-like instructions affects the execution timing and non-intrusive approaches, such as JTAG, have not been used beyond a single node due to their high cost. This paper presents Minerva, a testbed architecture for distributed debugging of wireless sensor networks. At the core of our architecture is a flexible debug board installed at each node. The board design is driven by cost-efficiency of the testbed instrumentation and provides access to the on-chip debug port of the sensor node's processor. We focus on three main debugging modalities: (i) non-intrusive network-wide tracing of the internal state of individual nodes; (ii) synchronous stopping of the whole network on a breakpoint; and (iii) distributed assertion checking. We demonstrate the debugging capabilities of Minerva in use-cases based on well-known sensor network protocols in a 20-nodes indoor testbed. Our results indicate that Minerva provides non-intrusive, network-wide debugging of sensor network applications at a low cost.