  Object tracking applications are gaining popularity and will soon utilize
Energy Harvesting (EH) low-power nodes that will consume power mostly for
Neighbor Discovery (ND) (i.e., identifying nodes within communication range).
Although ND protocols were developed for sensor networks, the challenges posed
by emerging EH low-power transceivers were not addressed. Therefore, we design
an ND protocol tailored for the characteristics of a representative EH
prototype: the TI eZ430-RF2500-SEH. We present a generalized model of ND
accounting for unique prototype characteristics (i.e., energy costs for
transmission/reception, and transceiver state switching times/costs). Then, we
present the Power Aware Neighbor Discovery Asynchronously (Panda) protocol in
which nodes transition between the sleep, receive, and transmit states. We
analyze \name and select its parameters to maximize the ND rate subject to a
homogeneous power budget. We also present Panda-D, designed for non-homogeneous
EH nodes. We perform extensive testbed evaluations using the prototypes and
study various design tradeoffs. We demonstrate a small difference (less then
2%) between experimental and analytical results, thereby confirming the
modeling assumptions. Moreover, we show that Panda improves the ND rate by up
to 3x compared to related protocols. Finally, we show that Panda-D operates
well under non-homogeneous power harvesting.
