Integrated Sensing: Collaborative Research: Objective-oriented Mobile Heterogeneous Sensor Networks for Coordinated Control

基于目标导向的移动异构传感器网络协调控制本研究以协调自主飞行为例，重点研究了用于协调控制的大型、移动和可配置网络。状态估计在控制和通信之间提供了一个链接，它允许异构传感器，即使用支持数据融合的概念组合不同或不同精度的数据。管理复杂性和保留设计原则是开发具有许多组件的可行的、可调的、面向任务的系统的关键。这个合作研究建议的智力价值在于将协调控制、动态状态估计、特设网络管理、资源分配和容错等同源和不同的元素结合在一起。它的目的是提供一种形式，在这种形式中，传感器网络的方法可以集成为一个专注于实现特定控制目标的系统设计过程的一部分。这为在控制性能的环境中嵌入传感器网络的方法的开发提供了一个框架。这项研究的更广泛的影响是，它使用信息质量的概念将来自不同领域的工具和技术联系在一起。该团队是跨系统工程领域的多学科团队，问题领域影响了各个专业领域的一系列基本问题。这种跨通信、控制、网络和估计的联系被认为是当前设计技术的瓶颈。

Objective-Oriented Mobile Heterogeneous Sensor Networks forCoordinated ControlThis proposal focuses on a comprehensive study of large, mobile ad hocreconfigurable networks for coordinated control, using coordinatedautonomous flight as a guiding example problem. State estimationprovides a link between control and communications which admitsheterogeneous sensors, that is the combining of dissimilar ordifferent accuracy data using concepts which underpin datafusion. Management of complexity and preservation of design principlesare keys to the development of workable, tunable, mission-orientedsystems with many components.The intellectual merit of this collaborative research proposal hingeson the drawing together of cognate and disparate elements fromcoordinated control, dynamic state estimation, ad hoc networkmanagement, resource assignment, and fault tolerance. Its aim is toprovide a formalism in which the methods of sensor networking may beintegrated as part of a systematic design process focused on achievinga specific control objective. This provides a framework for thedevelopment of methodologies for embedding a sensor network in acontext of control performance.The broader impact of this research is that it ties together tools andtechniques from distinct areas using concepts of informationquality. The team is multi-disciplinary across a gamut of SystemsEngineering and the problem area impacts a range of fundamentalproblems in the individual areas of specialization. This linkageacross communications, control, networking and estimation is aperceived bottleneck of current design techniques.