Sensors 2011, 11(12), 11516-11543; doi:10.3390/s111211516
Article

An Integrated Testbed for Cooperative Perception with Heterogeneous Mobile and Static Sensors

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Received: 12 November 2011; in revised form: 28 November 2011 / Accepted: 28 November 2011 / Published: 9 December 2011
(This article belongs to the Special Issue Collaborative Sensors)
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Abstract: Cooperation among devices with different sensing, computing and communication capabilities provides interesting possibilities in a growing number of problems and applications including domotics (domestic robotics), environmental monitoring or intelligent cities, among others. Despite the increasing interest in academic and industrial communities, experimental tools for evaluation and comparison of cooperative algorithms for such heterogeneous technologies are still very scarce. This paper presents a remote testbed with mobile robots and Wireless Sensor Networks (WSN) equipped with a set of low-cost off-the-shelf sensors, commonly used in cooperative perception research and applications, that present high degree of heterogeneity in their technology, sensed magnitudes, features, output bandwidth, interfaces and power consumption, among others. Its open and modular architecture allows tight integration and interoperability between mobile robots and WSN through a bidirectional protocol that enables full interaction. Moreover, the integration of standard tools and interfaces increases usability, allowing an easy extension to new hardware and software components and the reuse of code. Different levels of decentralization are considered, supporting from totally distributed to centralized approaches. Developed for the EU-funded Cooperating Objects Network of Excellence (CONET) and currently available at the School of Engineering of Seville (Spain), the testbed provides full remote control through the Internet. Numerous experiments have been performed, some of which are described in the paper.
Keywords: cooperating objects; wireless sensor networks; testbeds
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MDPI and ACS Style

Jiménez-González, A.; Martínez-de Dios, J.R.; Ollero, A. An Integrated Testbed for Cooperative Perception with Heterogeneous Mobile and Static Sensors. Sensors 2011, 11, 11516-11543.

AMA Style

Jiménez-González A, Martínez-de Dios JR, Ollero A. An Integrated Testbed for Cooperative Perception with Heterogeneous Mobile and Static Sensors. Sensors. 2011; 11(12):11516-11543.

Chicago/Turabian Style

Jiménez-González, Adrián; Martínez-de Dios, José Ramiro; Ollero, Aníbal. 2011. "An Integrated Testbed for Cooperative Perception with Heterogeneous Mobile and Static Sensors." Sensors 11, no. 12: 11516-11543.


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