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

面向目标的移动异质传感器网络协同控制本方案以协同自主飞行为指导实例，对大型移动ad-hocetable传感器网络协同控制进行了全面的研究。状态估计提供了允许异类传感器的控制和通信之间的联系，即使用支撑数据流的概念来组合不同或不同精度的数据。复杂性的管理和设计原则的保留是开发具有许多组件的可工作的、可调的、面向任务的系统的关键。这种协作研究方案的智力优势在于将协调控制、动态状态估计、自组织网络管理、资源分配和容错中的相关和不同的元素结合在一起。它的目的是提供一种形式主义，其中传感器联网的方法可以被整合为集中于实现特定控制目标的系统设计过程的一部分。这为开发将传感器网络嵌入控制性能的方法提供了一个框架。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。该团队涉及系统工程的多学科领域，问题领域影响到各个专业领域的一系列基本问题。这种跨越通信、控制、联网和估计的链接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.