II-New: CyPhyHouse: A Laboratory for Evolving Distributed and Mobile Cyber-Physical Systems Research

该项目开发CyPhyHouse：一个创新平台，用于快速开发和部署分布式和移动机器人系统。分布式机器人系统在制造、运输、物流和勘探领域处于研究的前沿。然而，管理和试验分布式机器人平台可能是一项费力且容易出错的工作。在现有硬件平台上部署新算法可能需要数周时间；将一个应用程序移植到一个新平台可能需要几个月的时间。部署机器人应用程序的高开销对该领域的科学主张的稳健性造成了损害。CyPhyHouse提供了应用程序编程接口（api）和易于使用的软件环境，减少了上述工作的数量级。这种新的基础设施提供了易于使用的开源软件和硬件平台，用于在异构车队上快速编程、模拟、部署和可视化丰富的应用程序系列。因此，它将使开发支持和依赖协调和控制移动性的计算系统所需的大规模实验研究成为可能，例如，研究WiFi接入点的移动性，移动系统的调试器，以及具有真实和虚拟无人驾驶汽车的增强现实。硬件基础设施由大约一组移动车辆平台（地面车辆和空中车辆的混合）组成。软件基础架构由用于协调和控制基于分布式共享内存（DSM）和避免到达功能的异构舰队的api组成。这些api集成在一种熟悉的编程语言（如c++或Java）的扩展中，并在所有硬件平台上实现。开发用于编译、模拟、日志记录和监视的支持软件工具，以帮助开发和部署应用程序程序。该基础设施使研究人员能够快速部署涉及数十辆汽车的实验并将其可视化。相同的高级应用程序将可以在不同的硬件平台上移植。该平台实现了大规模、可重复的实验研究，这是开发支持并依赖于协调和控制移动的计算系统所需要的。所有的软件和硬件规格都将是开源的，并提供给更广泛的社区。在几门研究生课程中，CyPhyHouse将为学生提供一个现实的项目平台。它旨在帮助培养研究生，并为本科生提供研究机会，如网络物理系统，移动和分布式计算，以及多智能体系统。

This project develops CyPhyHouse: an innovation playground for enabling rapid development and deployment of distributed and mobile robotic systems. Distributed robotic systems are at the frontier of research in manufacturing, transportation, logistics, and exploration. Yet, managing and experimenting with distributed robotic platforms can be a laborious and error-prone undertaking. Deploying a new algorithm on an existing hardware platform can take weeks; porting an application to a new platform can take months. This high overhead of deploying robotic applications takes a toll on the robustness of the scientific claims made in this area. CyPhyHouse provides application programming interfaces (APIs) and an easy to use software environment which reduces the above efforts by orders of magnitude. This new infrastructure provides easy to use, open source, software and hardware platform for rapidly programming, simulating, deploying, and visualizing a rich family of applications on heterogeneous fleet of vehicles. It thus will enable large-scale experimental research needed for developing computing systems that support and rely on coordinated and controlled mobility, for example, in the study of mobility of WiFi access points, debuggers for mobile systems, and augmented-reality with real and virtual Unmanned Autonomous Vehicles.The hardware infrastructure consists of a collection of about mobile vehicle platforms (a mix of ground vehicles and aerial vehicles). The software infrastructure consists of APIs for coordination and control of the heterogeneous fleet based on distributed shared-memory (DSM) and reach-avoid functions. These APIs are integrated in an extension of a familiar programming language (e.g., C++ or Java) and have implementations on all the hardware platforms. Supporting software tools are developed for compilation, simulation, logging, and monitoring that help with development and deployment of application programs. The infrastructure enables a researcher to quickly deploy experiments involving dozens of vehicles and visualize them. The same high-level application programs will be portable across different hardware platforms. The platform enables large-scale, repeatable experimental research needed for developing computing systems that support and rely on coordinated and controlled mobility. All the software and hardware specifications will be open-sourced and made available to the broader community. In several graduate courses, CyPhyHouse will provide students with a realistic platform for projects. It aims to help train graduate students and provide research opportunities for undergraduates in areas like cyber-physical systems, mobile and distributed computing, and multi-agent systems.