CPS: Synergy: Resilient Wireless Sensor-Actuator Networks

无线传感器-致动器网络（WSAN）是由大量传感和致动设备组成的系统，这些传感和致动设备通过无线通信网络与环境交互并协调它们的活动。 本项目研究WSAN中的“弹性”。 弹性系统是一个保持对周围威胁的主动意识，并以在有限时间内使系统恢复正常运行的方式对这些威胁做出反应的系统。 该项目的弹性WSAN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，其承诺无线联网具有比先前可能的更大的峰值比特率和可靠性。 另一个趋势来自最近的想法，使用量化和事件触发的反馈以统一的方式来降低实时控制系统所需的比特率。 该项目将在由无人驾驶地面车辆组成的多机器人试验台上评估和演示这种综合控制/通信方法。 该测试平台将M2M通信硬件/软件与多机器人控制架构相结合，解决任务协调和平台稳定问题。该项目通过圣母院园区内及周边的组织和项目扩大了其影响力，促进了工业参与和技术转让。 该项目将吸引本科生和研究生来支持该项目的测试平台和算法开发。 该项目将通过将该项目的成果纳入课程，扩大和重新组织圣母大学的网络物理系统课程。

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.