Repeatable Experiments with Mobile Nodes in a Wireless Sensor Network Testbed

Sammanfattning: Wireless Sensor Networks (WSNs) is a popular area of research because of its many applications. When developing applications for WSNs, testbeds are widely used. The possibility to have mobile nodes in such testbeds is desirable. This thesis work tries to solve precision, mobility, and reproducibility issues with a mobile platform in the Sensei-UU testbed. The mobile platform was developed by following a few design decisions; the entire testbed must be moveable, all experiments must be reproducible, and all hardware used must be available off-the-shelf in most parts of the world. A mobile platform with these features has been developed and its precision is never worse than 17 mm on distances up to 3.0 metres. Longer distances do not increase the variance of distance estimations. For testbeds other than Sensei-UU, large parts of the software may be reused.