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.


Testbed NameVehicle Swarm Technology Laboratory (VSTL)
Operational StatusStable and running
InstitutionBoeing Phantom Works
Public Website
Contact Person NameJohn Vian
Contact Person E-mailjohn.vian AT
Technology FocusWireless Sensor Networks, Autonomous Robots, Integration and demonstration of complex coupled systems
Deployment ScenarioIndoor continuous space (e.g.: sport hall)
Deployment Pattern air and ground mobile vehicle nodes
Mobility SupportFixed nodes, Mobile nodes
Total Number of Supported Nodes20
Horizontal Node Spacing16 by 32 meters open floor
Vertical Node Spacing6.5 meter ceiling
Variability of Supported SUT PlatformsMultiple - heterogeneous SUT
Primary SUT PlatformZigbee and BT (on quadrotor, co-axial helicopter, singe-blade helicopter, tracked ground vehicle, wheeled ground vehicle, wall-climbing robot, and fixed-wing airplanes)
Number of Nodes from the Primary SUT Platformover 20 mobile vehicles
Additional SUT PlatformBTnode
Number of Nodes from the Additional SUT Platform
SUT SensorsTemperature, Visible light, Sound, Ultrasound, Cameras, GPS, Robostix/Gumstix and PICs for on-board interface to multiple sensor types.
SUT ActuatorsLED, Ultrasound, Position (node mobility), electric motors and manipulators
Power Supply of SUT NodesBattery, Power over USB, Mains powered, fuel cell
Control/Monitoring Plane SeparationOut-of-band (the control/monitoring plane uses separate medium/channel from the SUT)
Control/Monitoring Plane Communication Technologies802.15.4, Bluetooth, WLAN, USB, Ethernet, Serial (RS-232), firewire, 915Mhz data, 2.4Ghz and 5.8 Ghz cameras
Control/Monitoring Plane ArchitectureHierarchical and distributed (connection via set of secondary nodes / micro-servers which are then connected to the main "controlling" entity/server
Control/Monitoring Plane Gateway PlatformsBTnode, Laptop PC, Desktop PC, standard wireless routers
Job Execution ModelBatch (automatic execution of jobs without user intervention), Interactive (direct user control over the job execution process)
Job ConcurrencyConcurrency per platform type (concurrent jobs have to use different SUT node platforms), Concurrency per node ID (concurrent jobs have to use different sets of node IDs), Concurrency per comm channel (concurrent jobs have to use different sets of communication channels)
Job Registration and Scheduling InterfaceWeb UI, GUI client, Programmable Client APIs
Authentication and Authorization ArchitectureBasic HTTP authorization, UPD and custom server app
Job Control InterfaceCustom RPC/RMI in Java, Custom RPC/RMI in Python, Custom RPC/RMI in C++, Custom shell script / ssh command automation
SUT Node Control ServicesPower cycling, Resetting, Image programming, Image erasing, Data collection, Data injection, Power consumption monitoring, systems health monitoring
SUT Data AccessDirect raw access to the serial/secondary channel output of the SUT nodes, Direct raw access to the serial/secondary channel input of the SUT nodes, Indirect access to serial/secondary channel via client library APIs, Indirect access to serial/secondary channel via "shell" abstraction, Indirect access to serial/secondary channel via data persistence on the server
SUT Data PersistenceFile-system storage in raw text format
Time Stamping ServicesDistributed time-stamping using time synchronized control/monitoring plane (time stamping at the micro-server/secondary node level that are globally synchronized using a service like NTP or FTSP)
Integration with Simulators and EmulatorsIntegration of simulated nodes in the testbed run (e.g.: emulation of interaction between real and simulated nodes), Integration of testbed nodes in a simulation run (e.g.: use of real comm interfaces from the testbed nodes while simulating the SW stack in a simulator), virtual enviroment game engine
Remote Use PolicyFree access for (project) partners