CPS: Medium: Collaborative Research: Dynamic Routing and Robotic Coordination for Oceanographic Adaptive Sampling

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The objective of this research is the design of innovative routing,planning and coordination strategies for robot networks, and theirapplication to oceanography. The approach is organized in threesynergistic thrusts: (1) the application of queueing theory andcombinatorial techniques to networked robots performing sequential tasks,(2) the design of novel distributed optimization and coordination schemesrelying only on asynchronous and asymmetric communication, (3) the designof practical routing and coordination algorithms for the USC NetworkedAquatic Platforms. In collaboration with oceanographers and marinebiologists, the project aims to design motion, communication andinteraction protocols that maximize the amount of scientific informationcollected by the platforms.This proposal addresses multi-dimensional problems of relevance inEngineering and Computer Science by unifying fundamental concepts frommultiple cyberphysical domains (robotics, autonomy, combinatorics, andnetwork science). Our team has expertise in a broad range of scientificdisciplines, including control theory and theoretical computer science andtheir applications to multi-agent systems, robotics and sensor networks.The proposed research will have a positive impact on the emergingtechnology of autonomous and reliable robotic networks, performing a broadrange of environmental monitoring and logistic tasks. Our educational andoutreach objectives are manifold and focus on (1) integrating the proposedresearch themes into undergraduate education and research, e.g., via theexisting NSF REU site at the USC Computer Science Department, and (2)mounting a vigorous program of outreach activities, e.g., via awell-developed collaboration with the UCSB Center for Science andEngineering Partnerships.