In this paper, we develop a software-defined radio (SDR)-based teleoperating cyber-physical system (CPS) for disaster environment exploration, named AVATARS, which includes a telerobot and a teleoperator. We further assess the response of the devices to truncated packets and show that this procedure can be employed to fingerprint the devices. We identify marked differences in their performance, including a variation of as much as 20 dB in their receiver sensitivity. Using the testbed, we measure the receiver sensitivity and signal capture behavior of Wi-Fi devices from different vendors. The testbed further allows tight control of timing events, at a microsecond time granularity. The testbed is capable of accessing and measuring physical layer protocol features of real wireless devices.
In this work, we propose and implement a new testbed architecture for software-defined radio-based wireless device performance benchmarking. Yet, characterizing the physical layer behavior of wireless devices usually requires complex testbeds with expensive equipment, making such behavior inaccessible and opaque to the end user. Many performance characteristics of wireless devices are fundamentally influenced by their vendor-specific physical layer implementation.
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