CPS: Synergy: Resilient Wireless Sensor-Actuator Networks

无线传感器-致动器网络（WSAN）是由许多传感和致动设备组成的系统，这些设备与环境相互作用，并通过无线通信网络协调其活动。本项目研究无线局域网的“弹性”。弹性系统能够保持对周围威胁的主动感知，并对这些威胁作出反应，使系统在有限的时间内恢复正常运行。本项目弹性wsan的方法基于两个基本趋势。一种趋势是使用机器对机器（M2M）通信网络，它承诺无线网络具有比以前更高的峰值比特率和可靠性。另一种趋势来自最近的想法，即以统一的方式使用量化和事件触发反馈来降低实时控制系统所需的比特率。该项目将在由无人地面车辆组成的多机器人试验台上评估和演示这种集成控制/通信方法的弹性。该测试平台将集成M2M通信硬件/软件和多机器人控制体系结构，解决任务协调和平台稳定性问题。该项目通过圣母院校园内外的组织和项目扩大其影响，促进工业参与和技术转移。该项目将吸引本科生和研究生来支持项目的测试平台和算法开发。该项目将通过将该项目的结果整合到课程中，扩大和重新组织圣母大学的网络物理系统（CPS）课程。

Wireless sensor-actuator networks (WSAN) are systems consisting of numerous sensing and actuation devices that interact with the environment and coordinate their activities over a wireless communication network. This project studies "resilience" in WSANs. A resilient system is one that maintains an active awareness of surrounding threats and reacts to those threats in a manner that returns the system to operational normalcy in finite time. This project's approach to resilient WSANs rests on two fundamental trends. One trend uses machine-to-machine (M2M) communication networks that promise wireless networking with greater peak bit-rates and reliability than previously possible. The other trend comes from recent ideas that use quantization and event-triggered feedback in a unified manner to reduce bit rates required by real-time control systems. This project will evaluate and demonstrate this integrated control/communication approach to resilience on a multi-robotic testbed consisting of unmanned ground vehicles. The testbed will integrate M2M communication hardware/software with a multi-robot control architecture addressing task coordination and platform stabilization.This project broadens its impact through organizations and programs on and around the Notre Dame campus that facilitate industrial engagement and technology transfer. The project will engage undergraduate and graduate students to support the project's testbed and algorithm development. The project will augment and re-organize Notre Dame's Cyber-Physical System (CPS) curriculum by integrating the results of this project into courses.