EAGER: CNS: RobSenCom: A Middleware to Improve the Connectivity between Heterogeneous Robots and IoT

物联网(IoT)网络跨越一组日益多样化的固定和机器人设备(例如，无人机、自动地面车辆)。由于现实环境中部署的移动、异类设备具有复杂的动态特性，因此在这些设备之间实现通信同步、可靠性和容错是一项关键挑战。该项目将在物联网网络跨多个移动代理运行的背景下开始解决这一挑战。该项目将采取一种“自下而上”的方法，首先解决多智能体机器人模拟器和网络模拟器在模拟机制上的根本区别。将追求三个主要目标：(1)该项目将探索与组合基于物理的模拟器和基于离散事件的模拟器相关的集成挑战。将开发一个新的网络协调器，以同步这些系统之间的模拟时间线。(2)使用这一综合框架，该项目将研究在一系列情况下(例如，不同的代理速度、不同的网络协议)在组成平台内产生的错误的传播。(3)最后，该项目将把模拟框架与物理设备相集成，以实现混合实验，缩小“模拟与现实”的差距。随着物联网网络在多智能体机器人环境中的日益扩展，它们在实现任务关键型服务方面的效用将会增加。已经在探索的潜在应用包括搜索和救援服务、野火监测和洪水影响评估。该项目将开始提供必要的计算机和网络系统基础，以确保通信同步、可靠性和容错的方式构建这些系统。更广泛地说，该项目将促进在固定设备和移动机器人基础上构建的大规模物联网网络的设计和验证方面的创新。这对未来的关键任务物联网系统以及由此带来的经济和社会效益可能会产生重大影响。该项目还将通过本科生研究人员、高中生和博士后研究人员的参与，为劳动力发展做出贡献。PI致力于扩大参与，并将积极从在计算领域代表性不足的群体中招收学生。这一奖项反映了NSF的法定使命，并通过使用基金会的智力优势和更广泛的影响审查标准进行评估，被认为值得支持。

Internet-of-Things (IoT) networks span an increasingly diverse set of stationary and robotic devices (e.g., aerial drones, autonomous ground vehicles). Achieving communication synchrony, reliability, and fault tolerance among these devices is a key challenge due to the complex dynamics of mobile, heterogeneous devices deployed in real-world environments. This project will begin to address that challenge in the context of IoT networks operating across multiple mobile agents. The project will take a “ground up” approach, beginning with addressing fundamental differences in simulation mechanics between multi-agent robotics simulators and network simulators. Three main objectives will be pursued: (1) The project will explore integration challenges associated with combining physics-based simulators and discrete event-based simulators. A new network coordinator will be developed to synchronize the simulation timelines between these systems. (2) Using this integrated framework, the project will study the propagation of errors arising from within the constituent platforms under a range of scenarios (e.g., varying agent speeds, varying networking protocols). (3) Finally, the project will integrate the simulation framework with physical devices to enable hybrid experimentation, reducing the "simulation-to-reality" gap.As IoT networks increasingly expand across multi-agent robotic environments, their utility in realizing mission-critical services will grow. Potential applications already being explored include search and rescue services, wildfire monitoring, and flood impact assessment. This project will begin to provide the computer and network systems foundations necessary to construct these systems in a manner that ensures communication synchrony, reliability, and fault tolerance. More generally, this project will catalyze innovation in the design and validation of large-scale IoT networks built upon stationary devices and mobile robots. The impact on future mission-critical IoT systems --and the resulting economic and societal benefits-- could be significant. The project will also contribute to workforce development through the involvement of undergraduate researchers, high school students, and a postdoctoral researcher. The PI is committed to broadening participation and will actively recruit students from groups underrepresented in computing.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.