Object tracking applications are gaining popularity and will soon utilizeEnergy Harvesting (EH) low-power nodes that will consume power mostly forNeighbor Discovery (ND) (i.e., identifying nodes within communication range).Although ND protocols were developed for sensor networks, the challenges posedby emerging EH low-power transceivers were not addressed. Therefore, we designan ND protocol tailored for the characteristics of a representative EHprototype: the TI eZ430-RF2500-SEH. We present a generalized model of NDaccounting for unique prototype characteristics (i.e., energy costs fortransmission/reception, and transceiver state switching times/costs). Then, wepresent the Power Aware Neighbor Discovery Asynchronously (Panda) protocol inwhich nodes transition between the sleep, receive, and transmit states. Weanalyze \name and select its parameters to maximize the ND rate subject to ahomogeneous power budget. We also present Panda-D, designed for non-homogeneousEH nodes. We perform extensive testbed evaluations using the prototypes andstudy various design tradeoffs. We demonstrate a small difference (less then2%) between experimental and analytical results, thereby confirming themodeling assumptions. Moreover, we show that Panda improves the ND rate by upto 3x compared to related protocols. Finally, we show that Panda-D operateswell under non-homogeneous power harvesting.
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