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

本研究的目的是设计创新的路由，规划和协调策略的机器人网络，和theirapplicationto海洋学。 该方法主要包括三个方面：（1）将并行理论和组合技术应用于执行顺序任务的网络化机器人;（2）仅依赖异步和非对称通信的新型分布式优化和协调方案的设计;（3）为USC网络化水上平台设计实用的路由和协调算法。 该项目与海洋学家和海洋生物学家合作，旨在设计运动、通信和交互协议，以最大限度地提高平台收集的科学信息量。该提案通过统一多个网络物理领域（机器人、自治、组合学和网络科学）的基本概念，解决工程和计算机科学中相关的多维问题。 我们的团队拥有广泛的科学学科的专业知识，包括控制理论和理论计算机科学及其在多智能体系统，机器人和传感器网络中的应用。拟议的研究将对自主和可靠的机器人网络的新兴技术产生积极影响，执行广泛的环境监测和物流任务。 我们的教育和推广目标是多方面的，重点是（1）将拟议的研究主题融入本科教育和研究，例如，通过现有的NSF REU网站在南加州大学计算机科学系，和（2）安装一个积极的外展活动计划，例如，通过与UCSB科学与工程合作中心的良好合作。

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.