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.
Available as PDF (2.42 MB, no cover)
Download BibTeX entry.