Integration of a Mobile Node into a Hybrid Wireless Sensor Network for Urban Environments.

Robots, or in general, intelligent vehicles, require large amounts of data to adapt their behavior to the environment and achieve their goals. When their missions take place in large areas, using additional information to that gathered by the onboard sensors frequently offers a more efficient solution of the problem. The emergence of Cyber-Physical Systems and Cloud computing allows this approach, but integration of sensory information, and its effective availability for the robots or vehicles is challenging. This paper addresses the development and implementation of a modular mobile node of a Wireless Sensor Network (WSN), designed to be mounted onboard vehicles, and capable of using different sensors according to mission needs. The mobile node is integrated with an existing static network, transforming it into a Hybrid Wireless Sensor Network (H-WSN), and adding flexibility and range to it. The integration is achieved without the need for multi-hop routing. A database holds the data acquired by both mobile and static nodes, allowing access in real-time to the gathered information. A Human⁻Machine Interface (HMI) presents this information to users. Finally, the system is tested in real urban scenarios in a use-case of measurement of gas levels.