A Multi-hop Control Network (MCN) consists of a plant where the communication between sensor, actuator and computational unit is supported by a wireless multi-hop communication network, and data flow is performed using scheduling and routing of sensing and actuation data. We address the problem of characterizing controllability and observability of a MCN, by means of necessary and sufficient conditions on the plant dynamics and on the communication scheduling and routing. We provide a methodology to design scheduling and routing, in order to satisfy controllability and observability of a MCN for any fault occurrence in a given set of configurations of failures.
Embedded systems are becoming increasingly networked and are deployed in application areas that require close interaction with their physical environment. Examples include distributed mobileagents and wireless sensor ac tuator networks. The complexity of these applic ations make co- simulation a necessary tool during system development. This paper presents a simulation environment that facilitates simu- lation of computer nodes and communic ation networks inter- acting with the continuous-time dynamics of the real world. Features of the simulator include interrupt handling, task scheduling, wired and wireless communication, local clocks, dynamic voltage scaling, and battery-driven operation. Two simulation case studies are presented: a simple communication scenario and a mobile robot soccer game.