NeTS-ProWiN: Emergency Ad Hoc Networking Using Programmable Radios and Intelligent Swarms

这个项目的重点是智能、自主的蜂群的联网。典型的应用场景是需要警察、消防员、护理人员等干预的灾区，但不友好的环境阻止了直接进入。蜂群在救援队和灾区所有关键的固定和移动传感器和执行器之间建立了通信网络。在灾难发生后，通常由传感器、监控器和执行器组成的一些互不相连的“孤岛”在撞击中幸存下来。一批迅速部署的空中/地面代理重建网络连接，恢复对关键传感器探测器的访问，必要时安装新探测器，并帮助收集和过滤相关数据。这一目标是通过几个要素的并行互通来实现的：可以在不利的、高度异质的条件下工作的灵活、可编程的无线电；用于群到群通信和“移动主干”部署的灵活的网络协议；自适应视频流；以及用于定位和运动估计的高级视觉处理。科学贡献和更广泛的影响将包括：(1)用于紧急联网的健壮、可重新配置的移动主干设计方法(2)用于不友好/敌对情况的模块化、灵活、可编程的MAR无线电技术。(3)实时视频流和延迟转发。(4)用于图像配准和镶嵌的视频数据的群内处理，包括部分3-D重建和与现有蓝图和地图数据的匹配(5)用于视觉里程测量和群形状细化的感兴趣区域计算

The focus of this project is the networking of intelligent, autonomous swarms. The typical application scenario is a disaster area that requires the intervention of police, firemen, paramedics etc, but where the unfriendly environment bars direct access. The swarm establishes a communications network between the rescue teams and all critical fixed and mobile sensors and actuators in the disaster area. In the aftermath of a disaster typically some disconnected "islands" of sensors, monitors and actuators have survived the impact. A rapidly deployed swarm of air/ground agents reestablishes network connectivity, restores access to critical sensor probes, installs new probes as necessary and helps the collection and filtering of relevant data. This goal is achieved with the concurrent interworking of several elements: agile, programmable radios that can work in adverse, highly heterogeneous conditions; flexible network protocols for swarm to swarm communications and for "mobile backbone" deployment; adaptive video streaming, and; advanced vision processing for location and motion estimation. Scientific contributions and broader impacts will include: (1) robust, reconfigurable Mobile Backbone design methodology for emergency networking (2) modular, flexible, programmable MAR radio technology for unfriendly/hostile scenarios. (3) real time video streaming and "delayed" forwarding.(4) In-swarm processing of video data for image registration and mosaicing, including partial 3-D reconstruction and matching to existing blueprint and mapping data(5) Region-of-interest computation for visual odometry and swarm configuration refinement