When deploying a testbed infrastructure for Wireless Sensor Networks (WSNs), one of the most challenging features is to provide repeatable mobility. Wheeled robots, usually employed for such tasks, strive to adapt to the wide range of
environments where WSNs are deployed, from chaotic office spaces to neatly raked potato elds. For this reason, wheeled robots often require an expensive customization step in order to adapt, for example, their localization and navigation systems to the specific environment. To avoid this issue, we
present Gondola, a parametric robot infrastructure based on pulling wires, rather than wheels. Gondola avoids the most common problems of wheeled robots and easily adapts to many WSNs' scenarios. Different from existing solutions, Gondola can easily move in 3-dimensional space, with no need of a complex localization system and with an accuracy that is comparable to o-the-shelf traditional robots.
Original languageEnglish
Title of host publicationProceedings of the 14th ACM Conference on Embedded Network Sensor Systems, SenSys 2016
Place of PublicationNew York, NY
PublisherAssociation for Computing Machinery (ACM)
Number of pages2
ISBN (Print)978-1-4503-4263-6
Publication statusPublished - 2016
Event14th ACM Conference on Embedded Networked Sensor Systems, SenSys 2016 - Stanford, United States
Duration: 14 Nov 201616 Nov 2016


Conference14th ACM Conference on Embedded Networked Sensor Systems, SenSys 2016
CountryUnited States
Internet address

ID: 9851359