# Mobile Autonomous Sensing Unit (MASU): A Framework That Supports Distributed Pervasive Data Sensing
## 7 Conclusions and Future Work
\begin{table}
\begin{tabular}{p{113.8 pt} p{113.8 pt} p{113.8 pt} p{113.8 pt} p{113.8 pt}} \hline \hline
**Framework/Platform** & \multicolumn{2}{c}{**Purpose or Use**} & \multicolumn{2}{c}{**Similarities with MASU**} & \multicolumn{2}{c}{**Differences with MASU**} \\ \hline \multirow{6}{*}{METS [22]} & - & General purpose platform. & \multirow{3}{*}{-} & It supports continuous sensing and autonomy of the nodes. & \multirow{3}{*}{-} & It requires instrumenting the sensing area. \\  & - & It supports opportunistically offloading sensing by & & & & \\  & improving stationary sensors & & the nodes. & & & \\  & embedded in & - & Flexible (by gain & & & \\  & the environment. & & threshold). & & & \\  & - & Focused on saving energy. & & & & \\ \hline \multirow{6}{*}{Darwin [6]} & - & Collaborative reasoning & \multirow{3}{*}{-} & It supports & \multirow{3}{*}{-} & It does not support collaborative sensing. \\  & framework. Uses & & & & & \\  & machine-learning techniques & \multirow{3}{*}{-} & It supports & \multirow{3}{*}{-} & \multirow{3}{*}{-} & It does not support collaborative sensing. \\  & specifically designed to run on & & device heterogeneity. & & & distributed/ad hoc solutions and autonomous nodes. \\  & sensor-enabled & & & & & \\  & mobile phones. & & & & & \\ \hline \multirow{6}{*}{CoMon [8]} & - & General purpose platform. & \multirow{3}{*}{-} & It supports continuous and distributed sensing. & \multirow{3}{*}{-} & It does not support device heterogeneity and one-to-one interactions. \\  & - &ulent monitoring through opportunistic cooperation & & & & \\  & among nearby mobile users. & & & & & \\  & Focused on saving energy. & & & & & \\ \hline \multirow{6}{*}{GCF [17]} & - & General purpose platform. & \multirow{3}{*}{-} & It allows performing collaborative sensing & \multirow{3}{*}{-} & Focused on grouping devices. \\  & - & It supports opportunistic sharing of contextual information. & & & & \\  & & & & & \\  & & & & & & device heterogeneity. \\  & & & & & \\  & & & & & & \\  & & & & & & \\ \hline \multirow{6}{*}{Remora [19]} & - & It implements a body sensor network. & \multirow{3}{*}{-} & It allows collaborative sensing involving distributed autonomous nodes. & \multirow{3}{*}{-} & It does not support topic-range communication infrastructures. \\  & - & It shares sensing information and classifiers for saving energy. & & & & \\  & & & & & \\  & & & & & & \\  & & & & & \\ \hline \multirow{6}{*}{C-SPINE [20]} & - & It implements a body sensor network. & \multirow{3}{*}{-} & It supports distributed and ad hoc sensing. & \multirow{3}{*}{-} & It implements collaborative sensing. \\  & - & It supports collaborative reasoning, computing and data fusion. & & & & \\  & & & & & & \\  & & & & & \\  & & & & & & \\ \hline \multirow{6}{*}{EasiSee [24]} & - & It implements collaborative sensing; particularly for vehicle counting and classification. & \multirow{3}{*}{-} & It performs collaborative sensing. & \multirow{3}{*}{-} & It supports only one-to-one interactions between stationary nodes. \\  & - & General-purpose platform. & \multirow{3}{*}{-} & It supports & \multirow{3}{*}{-} & It uses centralized components. \\  & - & It opportunistically shares anonymized contextual information. & \multirow{3}{*}{-} & It supports collaborative sensing. & \multirow{3}{*}{-} & It supports ad hoc sensing, but using a centralized by registry. \\ \cline{1-1} \cline{3-4}  & - & It implements collaborative sensing; particularly for vehicle counting and classification. & \multirow{3}{*}{-} & It performs collaborative sensing. & \multirow{3}{*}{-} & It supports only one-to-one interactions between stationary nodes. \\  & - & General-purpose platform. & \multirow{3}{*}{-} & It supports & \multirow{3}{*}{-} & It supports ad hoc sensing, but using a centralized by registry. \\ \cline{1-1} \cline{3-4}  & - & It opportunistically shares anonymized contextual information. & \multirow{3}{*}{-} & It performs collaborative sensing. & \multirow{3}{*}{-} & It supports only one-to-one interactions between stationary nodes. \\ \cline{1-1} \cline{3-4}  & & & & & & \\ \hline \multirow{6}{*}{AnonySense [44]} & - & It generates collaborative sensing; particularly for vehicle counting and classification. & \multirow{3}{*}{-} & It performs collaborative sensing. & \multirow{3}{*}{-} & It supports only one-to-one interactions between stationary nodes. \\  & - & General-purpose platform. & \multirow{3}{*}{-} & It performs collaborative sensing. & \multirow{3}{*}{-} & It uses centralized components. \\ \cline{1-1} \cline{3-4}  & - & It opportunistically shares anonymized contextual information. & \multirow{3}{*}{-} & It supports collaborative sensing. & \multirow{3}{*}{-} & It supports ad hoc sensing, but using a centralized by registry. \\ \cline{1-1} \cline{3-4}  & & & & & \\ \hline \hline \end{tabular}
\end{table}