Abstract-The Collaborative Sensing Language (CSL) is a high-level feedback control language for mobile sensor networks (MSN). It specifies MSN controllers to accomplish network objectives with a dynamically changing ad-hoc resource pool. Furthermore, CSL is designed to allow the updating of controllers during execution (patching). This enables hierarchical control with simpler controllers at lower levels. The CSL Execution Engine contains the intelligence to allocate resources to tasks dynamically and adjust in real time to resource motion, this enables CSL controllers to be simple, intuitive and scalable. Experimental results show that the CSL Execution Engine performs these services with the addition of very little overhead.
Abstract-In this paper we address the problem of modelling and controlling heterogeneous mobile robotic systems at a structure-level abstraction. We consider a system of mobile robotic entities that are able to observe, control, compute, and communicate. They operate upon an abstraction of the structure of the world that entails location and connectivity as first-class concepts. Our approach is to model mobile robotic entities as bigActors [18], a model of computation that combines bigraphs with the actor model for modeling structure-aware computation. As case study, we model a mission of heterogeneous unmanned vehicles performing an environmental monitoring mission.
The SEAGULL project aims at the development of intelligent systems to support maritime situation awareness based on unmanned aerial vehicles. It proposes to create an intelligent maritime surveillance system by equipping unmanned aerial vehicles (UAVs) with different types of optical sensors. Optical sensors such as cameras (visible, infrared, multi and hyper spectral) can contribute significantly to the generation of situational awareness of maritime events such as (i) detection and georeferencing of oil spills or hazardous and noxious substances; (ii) tracking systems (e.g. vessels, shipwrecked, lifeboat, debris, etc.); (iii) recognizing behavioral patterns (e.g. vessels rendezvous, high-speed vessels, atypical patterns of navigation, etc.); and (iv) monitoring parameters and indicators of good environmental status. On-board transponders will be used for collision detection and avoidance mechanism (sense and avoid). This paper describes the core of the research and development work done during the first 2 years of the project with particular emphasis on the following topics: system architecture, automatic detection of sea vessels by vision sensors and custom designed computer vision algorithms; and a sense and avoid system developed in the theoretical framework of zero-sum differential games.
Abstract-In this paper we introduce the Center for Collaborative Control of Unmanned Vehicles (C3UV) testbed for collaborative information acquisition.The C3UV testbed has been used for demonstrating a wide range of information-oriented applications executed by collaborative teams of Unmanned Aerial Vehicles (UAVs).This paper presents the C3UV testbed from an architectural stand-point. The testbed includes a estimation and control architecture and a software architecture. The estimation and control architecture is a set of components that can be composed to perform specific missions. The software architecture supports the execution of estimation and control components and implements the Collaborative Sensing Language -a language for highlevel specification of mission-level controllers for mobile sensor networks with ad-hoc resource pool and dynamic network topology.We show the use of different layers of the architecture using examples from our field experiments and demonstrations. Our heterogeneous teams of UAVs perform several types of missions such as environmental monitoring, pedestrian search and tracking, and river mapping.
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