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Overview Cricket is indoor location system for pervasive and sensor-based computing environments, such as those envisioned by MIT s Project Oxygen.
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Software release version 2.3.2 and firmware 2.3.2
Add license to the source code
Adjust the distance calculation for some crickets
Add a by page schematic download and update the schematics
Software release version 2.3.0 and firmware 2.3.1
Improve ultrasound directionality
Added schematics to the download section
New firmware and software version 2.2.2
New firmware and software version 2.2.1
New firmware and software version 2.2.0
Change ultrasound back to 53 ms
Fix scheduling bug due to wrong wait time
Cricket is indoor location system for pervasive and sensor-based
computing environments, such as those envisioned by MIT s Project Oxygen.
Cricket provides fine-grained location
information---space identifiers, position coordinates, and
orientation---to applications running on handhelds, laptops, and
There have been two major versions of Cricket to date July 2004.
Cricket v2, the current version, is substantially more accurate and
energy-efficient compared to Cricket v1. v2 has a new software stack
that runs on TinyOS, has better support for continuous object
tracking, has support for various auto-configuration algorithms, etc.
You can buy Cricket v2 units from Crossbow
Technologies. The software for Cricket v2 both embedded software
and higher-layer software that runs on laptops/handhelds are available
here. This software is under an open
source license and can be used for education, research, and commercial
purposes as long as the requirements in the copyright notice are
followed. Cricket available from Crossbow
Technologies may not be preloaded with the embedded software when
shipped individually to program the Crickets you will need a MIB510CA
Many applications in pervasive and sensor computing environments
are context-aware, benefitting from knowledge of their external
context, such as their location. Location may be specified as a
coordinate position in some coordinate system, a geographic space such
as a room or portion of a room, and as the orientation of a device
within some coordinate system. Examples of location-aware
applications that can be developed using Cricket including resource
discovery, human/robot navigation, physical/virtual computer games,
location-aware sensing, hospital/medical applications e.g., equipment
and patient tracking/monitoring, stream
migration, pose-aware applications like the software
Cricket is intended for use indoors or in urban areas where outdoor
systems like the Global Positioning System GPS don t work well.
It can provide distance ranging and positioning precision of between
1 and 3 cm, so applications that benefit from better accuracy that the
cellular E-911 services and GPS will also find Cricket useful.
Cricket is designed for low-power operation and can be used as a
location-aware sensor computing node running TinyOS, to which a
variety of sensors can be attached.
The best way to learn about the Cricket Technology is to check out the
In a nutshell, Cricket uses a combination of RF and ultrasound technologies to
provide location information to attached host devices. Wall-
and ceiling-mounted beacons placed through a building
publish information on an RF channel. With each RF advertisement,
the beacon transmits a concurrent ultrasonic pulse.
Listeners attached to devices and mobiles
listen for RF signals, and upon receipt of the first few bits, listen
for the corresponding ultrasonic pulse. When this pulse arrives, the listener
obtains a distance estimate for the corresponding beacon by taking advantage
of the difference in propagation speeds between RF speed of light and
ultrasound speed of sound. The listener
runs algorithms that correlate RF and ultrasound
samples the latter are simple pulses with no data encoded on them
and to pick the best correlation. Even in the presence of several competing
beacon transmissions, Cricket achieves good precision and accuracy quickly.
In addition to determining spaces and estimating position coordinates,
Cricket provides an indoor orientation capability via the Cricket compass.
This facility is not yet commercially available it is a research prototype
A Cricket listener attaches to the host device using an RS232 serial
connection. The Cricket beacon and listener are identical hardware
A Cricket unit can function as either beacon or listener,
or can be used in a mixed mode in a
symmetric location architecture which may be apporpriate in some
You can attach a variety of sensors to a Cricket device
using the 51-pin connector on the Cricket.
We also have some research prototypes of Crickets with a Compact Flash CF
interface, which may be a more convenient form factor to attach to handhelds
and laptops than the RS232 interface. These devices may become widely
available in a few months. They will be software- and protocol-compatible
with the RS232 version. The picture below shows what the current CF device
looks like; this design is likely to change.
Cricket uses active beacons and
passive listeners, which has two significant benefits. First, it
is not a tracking system where a centralized controller or database
receives transmissions from users and devices and tracks them.
Second, it scales well as the number of devices increases; a system
with active transmitters attached to devices wouldn t scale particularly well with the density of instrumented
devices. Third, its decentralized architecture makes the system
We ve been deploying Cricket. Below, on the left, is a
picture of its deployment in a room on the
9th floor of MIT s CSAIL in the Stata Center
click on the picture for a bigger image. Below, in the middle,
is a picture of an older deployment in CSAIL s old home in Tech Square. On the right is a picture of a deployment from CSAIL s graphics lab in Tech Square.
Various groups at MIT have developed
applications and systems using Crickets.
The following links are to video clips or pictures of some of these applications.
These links are roughly in inverse chronological order.
People currently working on the Cricket project include:
Past contributors to Cricket include Roshan Baliga MEng, Anit
Chakraborty MEng, Albert Lin UROP, Nikos Michalakis MEng, Jorge
Rafael Nogueras SM, Kevin Wang MEng, Mike Whitaker UROP
These papers are in chronological order.
Seth Teller, Kevin Chen, Hari Balakrishnan, Pervasive Pose-Aware Applications and Infrastructure, IEEE Computer Graphics and
Applications, July/August 2003.
This paper describes early experience with some applications of the
Cricket compass done with two or more standard Crickets, rather than
with an integrated compass device.
Hari Balakrishnan, Roshan Baliga, Dorothy Curtis, Michel Goraczko,
Allen Miu, Nissanka B. Priyantha, Adam Smith, Ken Steele, Seth Teller, Kevin
Wang, Lessons from Developing and Deploying the
Cricket Indoor Location System, November 2003. Preprint.
This paper describes the lessons learned from Cricket v1 and how Cricket
v2 s design builds on these lessons.
Cricket v2 User Manual, July 2004.
The Cricket Indoor Location System
PhD Thesis, Massachusetts Institute
An Ultrasonic Compass for Context-Aware Mobile Applications
M. Eng. Thesis, Massachusetts Institute
Rapid Coordinate System Creation and Mapping Using Crickets
Location-aware Access Control for Pervasive Computing Environments
Design and Implementation of an
Indoor Mobile Navigation System
SM Thesis, Massachusetts Institute of
Winner of a Masterworks Award, May
A Stream Redirection Architecture
for Pervasive Computing Environments
Providing Precise Indoor Location
Information to Mobile Devices
Technology, January 2001. Postscript
A Distributed Architecture for
Mobile, Location-Dependent Applications
Some experiments conducted using Cricket v1. Cricket v2 performs significantly better, so these numbers are unlikely to be useful any more.
Some experiments conducted using the second version of Cricket. More data is forthcoming.
Mobile Positioning Measurements zip file 310 kB
We are grateful to Acer Inc., Delta Electronics Inc., HP Corp., NTT Inc.,
Nokia Research Center, and Philips Research for their funding of the
Cricket project under the MIT Project Oxygen partnership.
We thank the National Science Foundation for funding Cricket under an ITR,
Scalable Location Aware Monitoring.
We thank NTT Inc. for having funded Cricket in the past under the
NTT-MIT research collaboration.
We also thank Analog Devices, Inc. for their kind donation of
electronic components and sensor devices.
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M. I. T. Computer Science and Artificial Intelligence Laboratory 32 Vassar Street Cambridge, MA 02139 USA.
