@TechReport{	  it:2009-025,
  author	= {Olof Rensfelt and Frederik Hermansand Christofer Ferm and
		  Per Gunningberg and Lars-{\AA}ke Larzon},
  title		= {Sensei-{UU}: A Nomadic Sensor Network Testbed Supporting
		  Mobile Nodes},
  institution	= {Department of Information Technology, Uppsala University},
  department	= {Division of Computer Systems},
  year		= {2009},
  number	= {2009-025},
  month		= oct,
  abstract	= {We present Sensei - a nomadic, or relocatable, wireless
		  sensor network (WSN) testbed with support for mobile nodes.
		  The nomadism makes it possible to evaluate a WSN
		  application in different environments ranging from lab
		  environment to in-situ installations to prototype
		  deployments. Other WSN testbeds are often static and can
		  not be easily moved between sites.
		  
		  To be easily relocateable and highly flexible, Sensei uses
		  a wireless 802.11 b/g network as control channel. Our
		  design with a wireless control channel allows easy
		  incorporation of mobile nodes. Since sensor nodes often use
		  802.15.4 (ZigBee) communication, we have investigated the
		  interference between the control channel and a 802.15.4 WSN
		  to ensure that this approach is a feasible approach. For
		  repeatability in terms of mobility, nodes can be carried
		  either by humans or robots following mobility scripts.
		  
		  We present a method for localization of mobile nodes based
		  on robot technology. The robots use laser range finders for
		  localization and navigate in a predefined map. We evaluate
		  the precision of this method in an office like environment
		  to ensure sufficient repeatability of mobility
		  experiments.}
}