Sleep systems1) range from the very simple (blankets on the floor) to the complicated buids (slide-outs, Murphys, etc).
Regardless of simplicity/complexity there are factors to keep in mind:
Sleeping directly on the floor on a blanket or pad can be a long-term solution for minimalists, a necessity for people with very little vertical space3), or a temporary way to get started immediately.
Camping cots are lightweight, highly portable and compact when stored, quick to setup, and more comfortable than many might think. In cold weather a camping pad is often added for underinsulation.
Military-style cots, where the side “stretchers” make a taut sleeping surface, are unusually comfortable. They are slightly harder to set up and take down, and do require a bit of strength to assemble.
Depending on strut and leg design, cots may be difficult to store containers underneath.
Sleeping platforms are common for vandwellers because:
Convertible beds are movable in some way that maximizes usable space:
A sleeping bag is the most important piece of sleeping gear. Cold-weather sleeping requires mummy bags of the correct temperature rating. Note: some bags will be labeled “zero degree” but the details reveal they mean 0 deg celsius (32F).