Pharos is a testbed that supports the validation of perception, control, and coordination in pervasive and mobile computing environments. The testbed's physical space, hardware, software, and rich application scenarios support research and discovery at a variety of levels. We support research in sensor management, network coding, wireless protocols, localization, multi-agent coordination, fault-tolerant systems, and software simulation validation.

This project is funded, in part, by the National Science Foundation under grant CNS-0844850 and by the Department of Defense. Any opinions, findings and conclusions or recomendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the sponsoring agencies.

Project Participants: Dr. Chien-Liang Fok (Post-doctoral researcher), Dr. Christine Julien (MPC director)


  1. Ágoston Petz, Chien-Liang Fok, Christine Julien. "Experiences Using a Miniature Vehicular Network Testbed," ACM International Workshop on VehiculAr Inter-NETworking, Systems, and Applications. 2012.
  2. Tsz-Chiu Au, Chien-Liang Fok, S. Vishwanath, Christine Julien, Peter Stone. "Evasion Planning for Autonomous Vehicles at Intersections," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. 2012.
  3. Noa Agmon, Chien-Liang Fok, Yehuda Emaliah, Peter Stone, Christine Julien, S. Vishwanath. "On Coordination in Practical Multi-Robot Patrol," Proceedings of the International Conference on Robotics and Automation (ICRA). 2012.
  4. Chien-Liang Fok, Maykel Hanna, Seth Gee, Tsz-Chiu Au, Peter Stone, Christine Julien, S. Vishwanath. "A Platform for Evaluating Autonomous Intersection Management Policies," Proceedings of the ACM/IEEE International Conference on Cyber-Physical Systems. 2012.