CAREER: Mobility Control for Robotic Sensor Networks

职业：机器人传感器网络的移动控制

• 批准号: 0745537
• 负责人: Ibrahim Isler
• 金额: $ 42.53万
• 依托单位: Rensselaer Polytechnic Institute
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2008
• 资助国家: 美国
• 起止时间: 2008-06-01 至 2009-05-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0745537&HistoricalAwards=false
• 关键词: CAREER; Mobility; Control; Robotic; Sensor

This project focuses on the development of mobility strategies forRobotic Sensor Networks (RSNs) which are networks of robots equippedwith communication, computation and sensing capabilities. For RSNtechnology to be utilized in critical applications such as emergencyresponse and environmental monitoring, mobility algorithms foroperation in dynamic and complex environments are needed.In this project, three novel mobility problems which arise in many RSNapplications are introduced. These problems are general enough tocapture the interplay between communication, sensing andmobility. Yet, they can be succinctly formulated as geometricoptimization problems. This work will focus on solving these mobilityproblems which will yield provably correct solutions for numerous RSNapplications. In addition, bounds on the performance of a given RSN infundamental problems such as tracking, collaborative sensing andestimation will be established.The output of this research will be a significant step toward enablingthe use of fully autonomous RSNs for crucial applications in emergencyresponse, energy and environmental monitoring, and health careautomation. Sensing and actuation play important roles in theevolution of information technology. The project will contribute tothis evolution through the development of novel distributed sensingand control algorithms.

本项目致力于开发机器人传感器网络(RSNs)的移动策略，RSNs是具有通信、计算和感知能力的机器人网络。为了将无线传感器网络技术应用于应急响应和环境监测等关键应用中，需要能够在动态复杂环境中运行的移动性算法。这些问题很普遍，足以捕捉到通信、感知和移动性之间的相互作用。然而，它们可以简洁地表示为几何优化问题。这项工作将集中于解决这些移动性问题，这将为许多RSN应用产生被证明是正确的解决方案。此外，还将建立给定RSN在跟踪、协作感知和估计等基本问题上的性能界限。这项研究的成果将是使全自主RSN用于紧急响应、能源和环境监测以及卫生保健自动化的关键应用的重要一步。感知和驱动在信息技术的发展中扮演着重要的角色。该项目将通过开发新的分布式传感和控制算法来促进这一演变。