Data centric middleware for the integration of wireless sensor networks and mobile robots
Pablo Gil, Pedro JosMarr ́ on · 2007
This paper describes the implementation of a data- centric middleware for wireless sensor networks in the scope of the European project AWARE. The middleware implements a high-level abstraction for integration of wireless sensor net- works with mobile robots. This is achieved by providing data- centric access to the information gathered by the wireless sensor network, which includes mobile robotic nodes. Nodes in the network organize themselves to retrieve the information needed by the robots while minimizing the number of transmitted packets in order to save energy. The implementation has been tested on tmote and Mica2 nodes. I. INTRODUCTION Wireless sensor networks (WSN) are collections of small devices equipped with sensors that communicate with each other using wireless technology and are able to organize themselves in order to interact with their environment. In contrast to classic sensors that usually need to be placed in specific locations carefully engineered to get the most out of expensive equipment (1), WSNs rely on redundancy and cheap hardware, rather than on accurate sensors, to make good estimations of the variables to monitor.