RI: Small: Providing Quality of Information in Robot Sensor Networks

该项目利用信息动力学为机器人传感器网络开发分布式控制算法，将网络的移动性和通信统一起来。新的框架超越了基于位置的移动控制算法和基于分组的通信协议，转向了单一的信息论方法。该框架通过：(1)建立一种新的信息服务质量度量和描述可行的服务质量需求；(2)基于信息动力学调整规划范围和采样时间的自适应滚动时间控制；(3)团队服务质量的分布式计算和优化；(4)使用异质室内机器人传感器网络和室外无人机系统进行实验验证。当部署在偏远或危险地点时，通过这些网络收集的数据可以直接改进对复杂环境的建模或了解，从而帮助拯救生命。学生将从涉及的多学科活动中受益，包括嵌入式计算、微型传感器设备、无线网络和自动控制。

This project develops distributed control algorithms for robot sensor networks using information dynamics to unify network mobility and communication. The new framework moves beyond location-based mobility control algorithms and packet-based communication protocols to a single information-theoretic approach. The framework is developed through: (1) formulation of a new quality of service of information metric and characterization of feasible quality of service demands, (2) adaptive receding horizon control that adjusts planning horizon and sample time based on information dynamics, (3) distributed calculation and optimization of team quality of service, and (4) experimental validation using a heterogeneous indoor robot sensor network and outdoor unmanned aircraft systems.This research enables the collection of in situ data over large spatiotemporal scales. When deployed in remote or hazardous locations the data collected with these networks leads to a direct improvement to model or understand complex environments, which can help save lives. Students will benefit from the multi-disciplinary activities involved, including embedded computing, miniature sensor devices, wireless networking, and automatic control.