WolfBot: A distributed mobile sensing platform for research and education

Mobile sensor networks are often composed of agents with weak processing capabilities and some means of mobility. However, recent developments in embedded systems have enabled more powerful and portable processing units capable of analyzing complex data streams in real time. Systems with such capabilities are able to perform tasks such as 3D visual localization and tracking of targets. They are also well-suited for environmental monitoring using a combination of cameras, microphones, and sensors for temperature, air-quality, and pressure. Still there are few compact platforms that combine state of the art hardware with accessible software, an open source design, and an affordable price. In this paper, we present an in-depth comparison of several mobile distributed sensor network platforms, and we introduce the WolfBot platform which offers a balance between capabilities, accessibility, cost and an open-design. Experiments analyzing its computer-vision capabilities, power consumption, and system integration are provided.