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.
This paper compares some of the common tools and techniques that enable state-of-the-art systems to provide high-level control of mobile sensor networks. There is currently a great deal of interest in employing unmanned and autonomous vehicles in intelligence, surveillance, and reconnaissance operations. Although this paper addresses issues common to all mobile sensor networks, the applications presented are typically associated with autonomous vehicles. We focus speciflcally on three high-level areas: I. mission deflnition languages that allow human users to compose missions deflned in terms of tasks, 2. communicationaddressing degradation and loss and relationship to underlying system architecture design, and 3. task allocation among the assets.
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