Mobile Robotics for Throughput Testing in a Reconfigurable Test Environment
Resumo
The growing demand for wireless connectivity in applications such as the Internet of Things (IoT), autonomous vehicles, and industrial automation requires accurate performance evaluation of networks in mobile and dynamic environments. This work proposes the development of a reconfigurable test environment based on mobile robots, using Raspberry Pi Zero 2 W boards to periodically collect Wi-Fi signal data from different positions within a physical space. Two experimental scenarios are considered: (i) client mobility, in which a Mesh router is mounted on a robot that performs measurements while moving, while the Raspberry Pi remains stationary collecting data; and (ii) infrastructure mobility, in which Mesh routers mounted on robots move while the Raspberry Pi remains fixed, collecting data. Data collection is performed using native commands from the embedded Linux system, and results are stored in JSON files for later analysis. This approach directly evaluates signal degradation, connection instability, handover events, physical obstacles, and network fluctuations in realistic scenarios. The expected outcomes of our research include the creation of a valuable dataset for validating wireless connectivity quality and supporting the development of more robust solutions for mobile networks and dynamic environments. This work presents an innovative reconfigurable testbed combining mobile robots and automated diagnostics capable of accurately and reproducibly evaluating handover and latency in Wi-Fi Mesh networks.
Palavras-chave:
Reconfigurable Testbed, Mobile Robotics, Wi-Fi Networks, Raspberry Pi, Performance Evaluation, RSSI, IoT
Referências
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Balint Bicski and Adrian Pekar. 2024. Unveiling Latency-Induced Service Degradation: A Methodological Approach With Dataset. IEEE Access 12 (2024), 128097–128115. DOI: 10.1109/ACCESS.2024.3456588
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Aastha Chawla, Sreya Goyalia, and Nidusha Kannan. 2022. EMT: Software-based Energy Management Tool for WiFi IoT Devices. (2022).
Fábio Engel de Camargo and Elias P. Duarte Jr. 2022. Um Simulador para Redes Sem Fio sob o Modelo SINR. Simpósio Brasileiro de Redes de Computadores e Sistemas Distribuídos (SBRC) (2022), 1–10. [link]
Federal Communications Commission. 2021. Measuring Broadband America - A Report on Latency. Online. [link].
Davi Freitas, Breno Miranda, and Juliano Iyoda. 2024. Robotic-supported Data Loss Detection in Android Applications. In Anais do XXXVIII Simpósio Brasileiro de Engenharia de Software (Curitiba/PR). SBC, Porto Alegre, RS, Brasil, 1–11. DOI: 10.5753/sbes.2024.2899
Jorge R Beingolea Garay, Roberto K Hiramatsu, Sergio T Kofuji, and Roseli de Deus Lopes. 2008. Avaliação experimental de redes mesh com os classmate pcs da Intel. JISTEM-Journal of Information Systems and Technology Management 5, 2 (2008), 235–250.
Bhargav Gokalgandhi et al. 2022. Reliable Low-Latency Wi-Fi Mesh Networks. IEEE Internet of Things Journal (2022).
Nikhil Handigol, Brandon Heller, Vimal Kumar Jeyakumar, David Mazières, and Nick McKeown. 2012. Reproducible Network Experiments Using Containerbased Emulation. In Proc. 8th Int. Conf. on Emerging Networking Experiments and Technologies (CoNEXT). ACM, Nice, France, 253–264.
Intel Corporation. 2023. Wireless Latency and Performance Guidelines. Online. [link].
Manikanta Kotaru, Kiran Joshi, Dinesh Bharadia, and Sachin Katti. 2015. SpotFi: Decimeter Level Localization Using WiFi. In 12th USENIX Symposium on Networked Systems Design and Implementation (NSDI). USENIX Association, 269–282. [link]
Lars Kunze, Mihai Emanuel Dolha, and Michael Beetz. 2011. Logic programming with simulation-based temporal projection for everyday robot object manipulation. In 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 3238–3244. DOI: 10.1109/IROS.2011.6094996
Celia Li et al. 2013. Efficient authentication for fast handover in wireless mesh networks. Comput. Secur. (2013).
Lucas Maciel, Alice Oliveira, Riei Rodrigues, Williams Santiago, Andresa Silva, Gustavo Carvalho, and Breno Miranda. 2022. A Systematic Mapping Study on Robotic Testing of Mobile Devices. In 2022 48th Euromicro Conference Series on Software Engineering and Advanced Applications (SEAA). IEEE, 475–482. DOI: 10.1109/SEAA56994.2022.00079
Ke Mao et al. 2017. Robotic Testing of Mobile Apps for Truly Black-Box Automation. IEEE Software (2017).
Gerard Meszaros. 2007. xUnit Test Patterns: Refactoring Test Code. Addison-Wesley.
Larry Peterson, Thomas Anderson, David Culler, and Timothy Roscoe. 2002. A Blueprint for Introducing Disruptive Change in the Internet. In Proc. ACM SIGCOMM Workshop on Hot Topics in Networks (HotNets). ACM, Cambridge, MA, USA, 1–6.
Ju Qian et al. 2020. RoScript: A Visual Script Driven Truly Non-Intrusive Robotic Testing System. In Proceedings of the 42nd International Conference on Software Engineering.
Chenhao Wei, Lu Xiao, Tingting Yu, Sunny Wong, and Abigail Clune. 2024. How Do Developers Structure Unit Test Cases? An Empirical Analysis of the AAA Pattern in Open Source Projects. IEEE Transactions on Software Engineering 51 (2024), 1007–1038. DOI: 10.1109/TSE.2025.3537337
Xue Zhang et al. 2015. Ticket-Based Authentication for Fast Handover in Wireless Mesh Networks. Wireless Personal Communications (2015).
Han Zou, Chun-Lin Chen, Maoxun Li, Jianfei Yang, Yuxun Zhou, Lihua Xie, and Costas J. Spanos. 2020. Adversarial Learning-Enabled Automatic WiFi Indoor Radio Map Construction and Adaptation With Mobile Robot. IEEE Internet of Things Journal 7, 8 (2020), 6946–6954. DOI: 10.1109/JIOT.2020.2979413
Balint Bicski and Adrian Pekar. 2024. Unveiling Latency-Induced Service Degradation: A Methodological Approach With Dataset. IEEE Access 12 (2024), 128097–128115. DOI: 10.1109/ACCESS.2024.3456588
K. Mani Chandy and J. Misra. 1985. Distributed Snapshots: Determining Global States of Distributed Systems. ACM Transactions on Computer Systems 3, 1 (1985), 63–75. DOI: 10.1145/214451.214456
Aastha Chawla, Sreya Goyalia, and Nidusha Kannan. 2022. EMT: Software-based Energy Management Tool for WiFi IoT Devices. (2022).
Fábio Engel de Camargo and Elias P. Duarte Jr. 2022. Um Simulador para Redes Sem Fio sob o Modelo SINR. Simpósio Brasileiro de Redes de Computadores e Sistemas Distribuídos (SBRC) (2022), 1–10. [link]
Federal Communications Commission. 2021. Measuring Broadband America - A Report on Latency. Online. [link].
Davi Freitas, Breno Miranda, and Juliano Iyoda. 2024. Robotic-supported Data Loss Detection in Android Applications. In Anais do XXXVIII Simpósio Brasileiro de Engenharia de Software (Curitiba/PR). SBC, Porto Alegre, RS, Brasil, 1–11. DOI: 10.5753/sbes.2024.2899
Jorge R Beingolea Garay, Roberto K Hiramatsu, Sergio T Kofuji, and Roseli de Deus Lopes. 2008. Avaliação experimental de redes mesh com os classmate pcs da Intel. JISTEM-Journal of Information Systems and Technology Management 5, 2 (2008), 235–250.
Bhargav Gokalgandhi et al. 2022. Reliable Low-Latency Wi-Fi Mesh Networks. IEEE Internet of Things Journal (2022).
Nikhil Handigol, Brandon Heller, Vimal Kumar Jeyakumar, David Mazières, and Nick McKeown. 2012. Reproducible Network Experiments Using Containerbased Emulation. In Proc. 8th Int. Conf. on Emerging Networking Experiments and Technologies (CoNEXT). ACM, Nice, France, 253–264.
Intel Corporation. 2023. Wireless Latency and Performance Guidelines. Online. [link].
Manikanta Kotaru, Kiran Joshi, Dinesh Bharadia, and Sachin Katti. 2015. SpotFi: Decimeter Level Localization Using WiFi. In 12th USENIX Symposium on Networked Systems Design and Implementation (NSDI). USENIX Association, 269–282. [link]
Lars Kunze, Mihai Emanuel Dolha, and Michael Beetz. 2011. Logic programming with simulation-based temporal projection for everyday robot object manipulation. In 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 3238–3244. DOI: 10.1109/IROS.2011.6094996
Celia Li et al. 2013. Efficient authentication for fast handover in wireless mesh networks. Comput. Secur. (2013).
Lucas Maciel, Alice Oliveira, Riei Rodrigues, Williams Santiago, Andresa Silva, Gustavo Carvalho, and Breno Miranda. 2022. A Systematic Mapping Study on Robotic Testing of Mobile Devices. In 2022 48th Euromicro Conference Series on Software Engineering and Advanced Applications (SEAA). IEEE, 475–482. DOI: 10.1109/SEAA56994.2022.00079
Ke Mao et al. 2017. Robotic Testing of Mobile Apps for Truly Black-Box Automation. IEEE Software (2017).
Gerard Meszaros. 2007. xUnit Test Patterns: Refactoring Test Code. Addison-Wesley.
Larry Peterson, Thomas Anderson, David Culler, and Timothy Roscoe. 2002. A Blueprint for Introducing Disruptive Change in the Internet. In Proc. ACM SIGCOMM Workshop on Hot Topics in Networks (HotNets). ACM, Cambridge, MA, USA, 1–6.
Ju Qian et al. 2020. RoScript: A Visual Script Driven Truly Non-Intrusive Robotic Testing System. In Proceedings of the 42nd International Conference on Software Engineering.
Chenhao Wei, Lu Xiao, Tingting Yu, Sunny Wong, and Abigail Clune. 2024. How Do Developers Structure Unit Test Cases? An Empirical Analysis of the AAA Pattern in Open Source Projects. IEEE Transactions on Software Engineering 51 (2024), 1007–1038. DOI: 10.1109/TSE.2025.3537337
Xue Zhang et al. 2015. Ticket-Based Authentication for Fast Handover in Wireless Mesh Networks. Wireless Personal Communications (2015).
Han Zou, Chun-Lin Chen, Maoxun Li, Jianfei Yang, Yuxun Zhou, Lihua Xie, and Costas J. Spanos. 2020. Adversarial Learning-Enabled Automatic WiFi Indoor Radio Map Construction and Adaptation With Mobile Robot. IEEE Internet of Things Journal 7, 8 (2020), 6946–6954. DOI: 10.1109/JIOT.2020.2979413
Publicado
22/09/2025
Como Citar
ARAÚJO, Eduardo; MIRANDA, Breno.
Mobile Robotics for Throughput Testing in a Reconfigurable Test Environment. In: SIMPÓSIO BRASILEIRO DE ENGENHARIA DE SOFTWARE (SBES), 39. , 2025, Recife/PE.
Anais [...].
Porto Alegre: Sociedade Brasileira de Computação,
2025
.
p. 859-864.
ISSN 2833-0633.
DOI: https://doi.org/10.5753/sbes.2025.11613.
