  This abstract describes the first public demonstration of feedback control
and coordination of multiple physical systems over a dynamic multi-hop
low-power wireless network with update intervals of tens of milliseconds. Our
running system can dynamically change between different sets of application
tasks (e.g., sensing, actuation, control) executing on the spatially
distributed embedded devices, while closed-loop stability is provably
guaranteed even across those so-called mode changes. Moreover, any subset of
the devices can move freely, which does not affect closed-loop stability and
control performance as long as the wireless network remains connected.
