The Cricket location-support system
MobiCom '00 Proceedings of the 6th annual international conference on Mobile computing and networking
ATP: a reliable transport protocol for ad-hoc networks
Proceedings of the 4th ACM international symposium on Mobile ad hoc networking & computing
VirtualWire: A Fault Injection and Analysis Tool for Network Protocols
ICDCS '03 Proceedings of the 23rd International Conference on Distributed Computing Systems
ORBIT Radio Grid Tested for Evaluation of Next-Generation Wireless Network Protocols
TRIDENTCOM '05 Proceedings of the First International Conference on Testbeds and Research Infrastructures for the DEvelopment of NeTworks and COMmunities
A software architecture for physical layer wireless network emulation
WiNTECH '06 Proceedings of the 1st international workshop on Wireless network testbeds, experimental evaluation & characterization
A networked robot system for wireless network emulation
Proceedings of the 1st international conference on Robot communication and coordination
A Prototyping Environment for Wireless Multihop Networks
AINTEC '07 Proceedings of the 3rd Asian conference on Internet Engineering: Sustainable Internet
An empirical comparison of throughput-maximizing wireless mesh routing protocols
Proceedings of the 4th Annual International Conference on Wireless Internet
Using physical layer emulation to optimize and evaluate mobile and wireless systems
Proceedings of the 5th Annual International Conference on Mobile and Ubiquitous Systems: Computing, Networking, and Services
COMSNETS'09 Proceedings of the First international conference on COMmunication Systems And NETworks
Sybot: an adaptive and mobile spectrum survey system for wifi networks
Proceedings of the sixteenth annual international conference on Mobile computing and networking
A scalable dual-radio wireless testbed for emulating mesh networks
Wireless Networks
Trends, advances, and challenges in testbed-based wireless mesh network research
Mobile Networks and Applications
Enhancing ASSERT: making an accurate testbed friendly
WiNTECH '11 Proceedings of the 6th ACM international workshop on Wireless network testbeds, experimental evaluation and characterization
A practical adaptive pacing scheme for TCP in multihop wireless networks
IEEE/ACM Transactions on Networking (TON)
CrossTrace: cross-layer measurement for IEEE 802.11 wireless testbeds
MMB&DFT'10 Proceedings of the 15th international GI/ITG conference on Measurement, Modelling, and Evaluation of Computing Systems and Dependability and Fault Tolerance
wnPUT testbed experimentation framework
ICDCN'12 Proceedings of the 13th international conference on Distributed Computing and Networking
A Platform for Evaluating Autonomous Intersection Management Policies
ICCPS '12 Proceedings of the 2012 IEEE/ACM Third International Conference on Cyber-Physical Systems
Experiences using a miniature vehicular network testbed
Proceedings of the ninth ACM international workshop on Vehicular inter-networking, systems, and applications
A taxonomy and evaluation for developing 802.11-based wireless mesh network testbeds
International Journal of Communication Systems
RoboNetSim: An integrated framework for multi-robot and network simulation
Robotics and Autonomous Systems
Testbeds for ubiquitous robotics: A survey
Robotics and Autonomous Systems
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Limited fidelity of software-based wireless network simulations has prompted many researchers to build testbeds for developing and evaluating their wireless protocols and mobile applications. Since most testbeds are tailored to the needs of specific research projects, they cannot be easily reused for other research projects that may have different requirements on physical topology, radio channel characteristics or mobility pattern. In this paper, we describe the design, implementation and evaluation of MiNT-m, an experimentation platform devised specifically to support arbitrary experiments for mobile multi-hop wireless network protocols. In addition to inheriting the miniaturization feature from its predecessor MiNT [9], MiNT-m enables flexible testbed reconfiguration on an experiment-by-experiment basis by putting each testbed node on a centrally controlled untethered mobile robot. To support mobility and reconfiguration of testbed nodes, MiNT-m includes a scalable mobile robot navigation control subsystem, which in turn consists of a vision-based robot positioning module and a collision avoidance-based trajectory planning module. Further, MiNT-m provides a comprehensive network/experiment management subsystem that affords a user full interactive control over the testbed as well as real-time visualization of the testbed activities. Finally, because MiNT-m is designed to be a shared research infrastructure that supports 24x7 operation, it incorporates a novel automatic battery recharging capability that enables testbed robots to operate without human intervention for weeks.