Commit 57976577 authored by Timothy Stack's avatar Timothy Stack

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

tutorial to the manual.
parent f73ae29d
......@@ -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>
......@@ -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>
......
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