COOJA and Testbed Federation/TWIST growing together

Two COOJA plugins and manuals have been published to integrate the TWIST testbed in COOJA and to take checkpoints and perform rollbacks both in TWIST and COOJA.

Call for Papers: CONET/UBICITEC 2013

The 4th International Workshop on Networks of Cooperating Objects for Smart Cities 2013 (CONET/UBICITEC 2013), colocated with CPSWeek 2013, accepts submissions until January 28th, 2013.

Newsletter issue #19

The 19th CONET newsletter has been published. You can read on Virtual Organizations for Multi-Model Based Embedded Systems and on the UvA Bird Tracking System.

CONET Integrated Testbed


Although most partners had individual testbeds in their own labs, there was no single physical environment that can be used for Cooperating Objects. This gap was closed by the CONET Integrated Testbed (IT) to enable the research, development, testing, validation and comparison of different techniques, algorithms and applications regarding Cooperating Objects. 


The following main elements are involved in the IT: 5 autonomous robotic systems and a set of static and mobile WSN nodes. All these cooperating objects have diverse sensing, computation and wireless communication capabilities. The robots also have sensor nodes, being mobile nodes of the network. The CONET Integrated Testbed, in operation since September 2009, is located in AICIA premises in Seville, Spain.

Current Status

The IT is currently accessible for UBICITEC members only. Please contact the CONET Office for details.

On the CONET Integrated Testbed Website you can find further information, such as a manual and presentation slides.


Software Architecture

The IT is equipped with hardware and software elements to support interactions between them. The software architecture is based on Player, a set of Open Source software tools for robot and sensor applications which runs in Ubuntu 8.04.2 LTS and includes drivers for all sensors and actuators. User programs are developed in Java or C/C++. Player is used as the CO hardware abstraction layer and thus, the addition of new hardware to this software architecture is practically straightforward. 


The IT User has freedom in the program and and functionalities development of the robots and the WSN, including the definition of the WSN internal messages. The only assumption made is that the messages used to send and receive data out of the WSN should comply with the IT WSN-Player Driver interface for their correct interpretation. This interface is simple and versatile enough to fulfill the requirements of a wide range of experiments designed for the testbed. In the IT specification step. The architecture of the IT does not impose explicit constraints on the operating system of the WSN apart from the compatibility with Mica2 nodes.


The IT offers a basic software infrastructure which include basic robot and wsn functions as well as a set of tools required to manage, monitor and visualize, simulate and log and re-play any IT remote experiment. The remote experiment management is done through this site. The monitoring utilities include a launcher, a robot viewer, a camera capturer and a WSN GUI, allowing the visualization of all data gathered by the IT cooperating objects. The logging functionalities are automatically done in each cooperating object, allowing the re-play of the logged experiments. Both, log files and experiment re-play are done through a Player Driver.




Robotic Platforms. Each of the 5 autonomous robots include a Pioneer 3-AT manufactured by Mobilerobots, equipped with an Advantech PC-104 embedded PC, a Wireless a/b/g/n Bridge and several sensors including a  Hokuyo UTM-30LX laser and an ImagingSource IEEE1394 camera. A WSN node is also attached to each robot.


Wireless Sensor Network. The IT WSN is based on Crossbow nodes. The testbed is equipped with a WSN of 40 Crossbow Mica2 nodes. The IT WSN is also equipped with Crossbow MTS400 or MTS300 sensor boards and CMUCAM3.


A commercial PC with a GNU/Linux operating system is also included as a Central/Monitoring PC. All the IT hardware is prepared for indoor and outdoor scenarios, in order to cover a broader range of experiments and functionalities. Any other cooperating objects can be straightforwardly used within the Integrated Testbed, including different WSNs and robotic platforms.




A series of experiments have already been carried out within the CONET IT. These experiments included network healing and repairing techniques, WSN node localization using RSSI and object tracking using CMUCAM3. The video shows two of the performed experiments.