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Three experimental environments traditionally support network and distributed systems research: network emulators, network simulators, and live networks. The continued use of multiple approaches highlights both the value and inadequacy of each. Netbed, a descendant of Emulab, provides an experimentation facility that integrates these approaches, allowing researchers to configure and access networks composed of emulated, simulated, and wide-area nodes and links. Netbed's primary goals are ease of use, control , and realism , achieved through consistent use of virtualization and abstraction.By providing operating system-like services, such as resource allocation and scheduling, and by virtualizing heterogeneous resources, Netbed acts as a virtual machine for network experimentation. This paper presents Netbed's overall design and implementation and demonstrates its ability to improve experimental automation and efficiency. These, in turn, lead to new methods of experimentation, including automated parameter-space studies within emulation and straightforward comparisons of simulated, emulated, and wide-area scenarios.

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Abstract-Simulation has been the dominant research methodology in wireless and sensor networking. When mobility is added, real-world experimentation is especially rare. However, it is becoming clear that simulation models do not sufficiently capture radio and sensor irregularity in a complex, real-world environment, especially indoors. Unfortunately, the high labor and equipment costs of truly mobile experimental infrastructure present high barriers to such experimentation.We describe our experience in creating a testbed to lower those barriers. We have extended the Emulab network testbed software to provide the first remotely-accessible mobile wireless and sensor testbed. Robots carry motes and single board computers through a fixed indoor field of sensor-equipped motes, all running the user's selected software. In real-time, interactively or driven by a script, remote users can position the robots, control all the computers and network interfaces, run arbitrary programs, and log data. Our mobile testbed provides simple path planning, a vision-based tracking system accurate to 1 cm, live maps, and webcams. Precise positioning and automation allow quick and painless evaluation of location and mobility effects on wireless protocols, location algorithms, and sensor-driven applications. The system is robust enough that it is deployed for public use.We present the design and implementation of our mobile testbed, evaluate key aspects of its performance, and describe a few experiments demonstrating its generality and power.

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