Past work at Penn includes a software-based contention-free token-bus protocol built on top of the IEEE 802.11 MAC protocol that provides medium access delay and bandwidth guarantees to real-time traffic. The protocol allows prioritized transmission requests and performs dynamic admission control. It can also adapt dynamically to the varying system load so as to provide an efficient bandwidth usage. It is the first link layer protocol over the widely used IEEE 802.11 MAC protocol that provides QoS guarantees to real-time multimedia traffic without resorting to any hardware modifications. Performance evaluation shows that the protocol satisfies the access delay and bandwidth requirements of real-time traffic at the expense of longer average delays and lower throughput of non-real-time traffic.

In the past, we worked with three groups of senior undergraduates to develop a mobile robotics platform for experimenting with real-time java. Each robot had a wireless camera and radio data link which allowed it to be remotely controlled or monitored as well as an on-board processor.