Add a few more notes to the reference manual and add a link in the

tutorial to the manual.

www/doc/mobilewireless.html

@@ -24,8 +24,8 @@
 The mobile wireless testbed integrates robots and motes into the standard
 Emulab testbed.  If you want to know how to create experiments utilizing these
 resources, check out the <a href="/tutorial/mobilewireless.php3">tutorial</a>.
-This document is intended to provide an in-depth description of what makes up
-this part of Emulab.
+This document is intended to provide a more in-depth description of what makes
+up this part of Emulab.
 
 <p>
 <li> <a NAME="HARDWARE"></a>
@@ -57,12 +57,22 @@ the world.  The viewable area for each camera can be seen on the <a
 href="/robotmap.php3">robot map</a> by selecting the "Show Tracking Camera
 Bounds" display option.
 
+<p>
+Currently the accuracy of the vision system with respect to the real world
+coordinates is around 10cm, but is usually closer to 5cm.  We are working to
+improve this wherever possible, but it may take some time.
+
 <p>
 <li> <a NAME="NAVIGATION"></a>
      <h3>Robot Navigation</h3>
 
-Due to physical obstacles in the robot area and the size and maneuverability of
-the robots, there are limitations on where the robots can go and how they can
-get there.
+Due to obstacles in the area and the size and maneuverability of the robots,
+there are limitations on where the robots can go and how they can get there.
+For example, the "tail" of the robot sticks out further from the center axis of
+the wheels than its "head", so there needs to be a fair amount of clearance for
+the robot to be able to pivot correctly.  Therefore, we enforce a 0.25 meter
+exclusion zone around obstacles to ensure the robots can maneuver freely.
+These exclusion zones can be seen on the <a href="/robotmap.php3">robot map</a>
+by selecting the "Show Exclusion Zones" display option.
 
 </ul>

www/tutorial/mobilewireless.php3

@@ -122,7 +122,11 @@ that hosts a mote with a wireless network interface.  The goal of this "mobile
 wireless testbed" is to give users an opportunity to conduct experiments with
 wireless nodes in configurable physical locations and while in motion.  For
 example, mobile nodes could be used to realistically test and evaluate an
-ad-hoc routing algorithm in a fairly repeatable manner.
+ad-hoc routing algorithm in a fairly repeatable manner.  This document is
+intended as a tutorial for those interested in making use of this testbed,
+there is also a short <a href="<?php echo
+$TBBASE?>/doc/docwrapper.php3?docname=mobilewireless.html">reference manual</a>
+available that gives details about the workings of the system.
 
 <br>
 <br>