ITR: Collaborative Research: -\(NHS+ASE)-\(int+dmc\): Networks of Robots and Sensors for First Responders

摘要：协作研究(NHS+ASE)(INT+DMC)：第一响应者的机器人和传感器网络PI：Daniela Rus，MitCo-Pi：Vijay Kumar，U.宾夕法尼亚州Co-Pi：Sanjiv Singh，CMU这个协作ITR项目致力于开发感知其环境并对其做出响应的传感器和机器人的主动网络，通过网络和网络用户预测信息需求，重新定位和组织自己，以最好地获取和传递信息。这样的联网系统结合了感知、通信和控制方面的最先进概念，以创建能够以有意义的方式与物理环境交互的计算系统，将每个组件和用户的个人能力扩展到涵盖更广泛的区域和范围的数据。PI设想了一种与互联网的物理模拟--可以主动感知世界、与世界进行物理交互并对世界进行推理的计算机网络。虽然互联网允许透明地访问已经在线的信息，但这项研究将扩展这一范式，允许用户通过“谷歌”获取物理信息，启动机器人和传感器，这些机器人和传感器合作获取信息并对其采取行动。智能价值拟议的研究计划将对联网的多智能体系统做出重大贡献：控制、自组织、适应和感知。这项工作的重点是：(1)通信和感知的控制：控制机器人主体保持通信链路或建立新的通信链路，同时获得所需的感官信息和跟踪源；(2)感知和感知的通信：通过网络融合来自不同传感器的信息，为每个智能体规划和控制其移动性提供所需的信息，并通过沉浸式显示为远程人类救援人员提供信息；以及(3)感知和控制的通信网络：节点的分组、调度和路由，以适应不断变化的不利条件，同时保持对移动性和传感器融合和集成的控制保证。广泛影响这项研究将通过三种方式向第一响应者提供关于不安全和人类难以到达的地区的信息，从而加强国家和国土安全。首先，它将通过帮助评估，通过增强人类对指挥和控制的感知来加快响应时间。第二，它将有助于镇压和遏制。第三，它将在恢复方面发挥作用，如在确定受害者身份和应对人员下落方面。与阿勒格尼消防培训学院从业人员的合作将确保研究植根于现实世界，并在应急社区产生影响。

ABSTRACTITR: Collaborative Research (NHS + ASE) (int + dmc):Networks of Robots and Sensors for First RespondersPI: Daniela Rus, MITCo-PI: Vijay Kumar, U. PennsylvaniaCo-PI: Sanjiv Singh, CMUThis collaborative ITR project addresses the development of proactive networks of sensors and robots that perceive their environment and respond to it, anticipating information needs by the network and by users of the network, repositioning and organizing themselves to best acquire and deliver the information. Such networked systems combine the most advanced concepts in perception, communication, and control to create computational systems capable of interacting in meaningful ways with the physical environment, extending individual capabilities of each component and user to encompass a much wider area and range ofdata. The PIs envision a physical analog to the Internet-- networks of computers that can actively sense, physically interact with, and reason about the world. While the Internet allows transparent access to information already online, this research will extend the paradigm by allowing users to "google" for physical information, setting into motion robots and sensors that team together to acquire information and act on it. Intellectual MeritThe proposed research program will be make significant contributions to networked multi-agent systems: control, self-organization, adaptation, and perception. The work will focus on: (1) Control for communication and sensing: the control of robotic agents to maintain communication links or establish new ones, while obtaining the required sensory information and tracking sources; (2) Communication for sensing and perception: the fusion of information from heterogeneous sensors over the network, providing the required information for each agent to plan and control its mobility and providing remotely located human rescue workers with information through immersive displays; and (3) Communication networks for sensing and control: the grouping, scheduling and routing of nodes to adapt to changing, adverse conditions while maintaining guarantees for control of mobility and for sensor fusion and integration.Broader ImpactThe research will enhance national and homeland security by providing first responder with information about areas that are unsafe and hard to reach for humans in three ways. First, it will speed up the response time by helping in assessment, by augmenting human perception for command and control. Second, it will help in suppression and containment. Third, it will play a role in recovery, as in identification of victims and location of responding personnel. The collaboration with practitioners at the Allegheny Fire Training Academy will ensure that the research is grounded in the real world and has impact in the emergency response community.