Abstract
The integration of communication, computing, and control in mobile cyberphysical systems leads to many challenges. This is due to the complex interactions between these three subsystems along with the limited resources in mobile cyberphysical devices. In this paper, we design and construct mobile cyberphysical nodes to be integrated with other stationary nodes to form a wireless network. These nodes are autonomous aerial vehicles (AAVs) forming a network with each other and with ground access point nodes that we use as a testbed called Horus. In this testbed, we run our developed rate distortion optimized (RDO) and adaptive wireless video transmission protocols. In our design of these transmission protocol, we take into consideration low computation, power, and bandwidth capabilities of Horus testbed that is a good representation of mobile cyberphysical systems. We provide results of our experiments on Horus testbed. These include both spacial and temporal distortion metrics and comparison between various transmission protocols along with samples of transmitted images and corresponding distorted received images from our recorded videos.