Implementation of Movement Pattern for Roomba Robots

Status: abgeschlossen
Betreuer: Mohamed Hail, Torsten Teubler
Student: David Engelhardt


Wireless sensor networks are networked, small computers that are equipped with sensors and thus perceive their environment. They establish network connections over wireless links. In the last years a trend came up regarding mobile sensor nodes or more general wireless communication among mobile devices. Those mobile sensor nodes or devices are attached to e.g. cars, ships, animals, or pedestrians. Obviously the movement of humans distinguishes from the movement of cars and it is also obvious that the wireless radio communication among cars has different requirements than the wireless radio communication among pedestrians. To describe the different movements so called “Movement Patterns” are used. One can say Movement Patterns describe the typical movements of creatures like humans or animals in their environment or movement of real world objects like cars or ships during their common use. Many Movement Pattern are known and described mathematically. In our research we use Roomba robots piggybacking our TriSOS sensor nodes to evaluate distributed sensor network or wireless algorithms on a mobile platform. For control and administration of the robot and the sensor network the robot also carries a small PC (running Windows 7 Professional). Currently, the robots follow a built-in random movement. For evaluation of more realistic scenarios we need to implement Movement Pattern for our mobile platform. To enhance accuracy of the movement and direction of the Roomba we need to build up some kind of hardware (position sensor boards for the TriSOS sensor node) for position/bearing determination.


The diploma thesis comprises following steps:

  • Implement the Roomba control software for the PC
  • the Movement Pattern application
  • Make necessary changes or improvements to existing software (e.g. Roomba control software for the TriSOS sensor node)
  • build up the hardware
  • Evaluate the whole system regarding the accuracy of built up sensors and the execution of the Movement Pattern.


  • Functional Roomba control and Movement Pattern implementation in Java (PC) and C (TriSOS sensor node)
  • Documented Source Code
  • Documentation of the System and the Evaluation
  • Thesis Report including
    • Description of the Implementation
    • Description of the Movement Pattern in general, Roomba control, Movement Pattern implementation for the Roomba, the position sensor, hardware design of the position sensor, etc.
    • Evaluation Results


  • Good skills in problem-abstraction
  • Good knowledge of Java and C programming
  • Willingness to learn microcontroller programming with Atmel microcontrollers
  • Good self-organized working skills
  • Good knowledge of the English language