CAREER: Mobility Control for Robotic Sensor Networks

该项目的重点是机器人传感器网络（RSNs）的移动性策略的发展，这是机器人配备通信，计算和传感能力的网络。 为了使RSN技术在紧急响应和环境监测等关键应用中得到应用，需要在动态和复杂环境中运行的移动性算法。这些问题是普遍的，足以捕捉通信，传感和移动性之间的相互作用。然而，它们可以简洁地表述为几何优化问题。这项工作将集中在解决这些mobilityproblems，这将产生可证明的正确的解决方案，为众多的RSN应用程序。此外，还将确定给定RSN在跟踪、协作传感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能够用于紧急响应、能源和环境监测以及医疗保健自动化等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发展。

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.