Data centric middleware for the integration of wireless sensor networks and mobile robots

This paper describes the implementation of a datacentric 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 networks with mobile robots. This is achieved by providing datacentric 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.