CAREER: Mobility Control for Robotic Sensor Networks

该项目侧重于机器人传感器网络（RSNs）的移动策略的发展，RSNs是具有通信，计算和传感能力的机器人网络。为了将rsn技术用于应急响应和环境监测等关键应用，需要在动态和复杂环境中运行的移动性算法。在这个项目中，介绍了在许多rsn应用中出现的三个新的移动性问题。这些问题很普遍，足以捕捉到通信、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。这项工作将专注于解决这些移动性问题，这将为许多rsn应用提供可证明的正确解决方案。此外，给定RSN的性能界限的基本问题，如跟踪，协同传感和估计将建立。这项研究的成果将是实现在应急响应、能源和环境监测以及医疗保健自动化等关键应用中使用全自动rsn的重要一步。传感和驱动在信息技术的发展中起着重要的作用。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。

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.