| Summary: |
The main objective of this project is to contribute to the development of a scientific framework for the systematic design and deployment of NVSS in new applications with strong societal and scientific impact such as oceanographic or environmental surveys with high temporal and spatial resolution. We propose an interdisciplinary approach with a technology push driven by researchers in control, computation, communications, sensing and vehicle design. The project will actively pursue cross-disciplinary interactions with European Networks of Excellence such as Euron (Robotics research), Artist (Embedded Systems Design), Marbef (Marine Biodiversity and Ecosystem Functioning) and with the Control and Dynamic Systems Alliance (Caltech, Santa Barbara, Princeton, Porto, Campinas and Lund universities). The project is organized into 8 tasks:
T0. Project management
T1. Challenge problem and control architecture
T2. Models and control for systems with evolving structure
T3. Distributed coordination protocols
T4. Coordinated maneuvers framework
T5. Coordinated path planning
T6. Simulation andevaluation
T7. Physical demonstration
Task T0 concerns technical and administrative management. This will be done in the framework of the IEEE standard for systems engineering process. There will be a Wiki to support collaborative research over the Internet.
Tasks T1-T5 address the key technical problems for this project. To make our developments tangible we will develop an oceanographic and environmental challenge problem from which specifications for the key problems will be derived. This will keep the project focused on technologies and computational tools for these problems. We plan to test and evaluate these tools and technologies first in simulation and later in a physical demonstration in the setting of the challenge problem. This will be done with networked air and sea-going vehicles and sensor networks contributed by Porto University and by the Porto Polytechnic Instit  |
Summary
The main objective of this project is to contribute to the development of a scientific framework for the systematic design and deployment of NVSS in new applications with strong societal and scientific impact such as oceanographic or environmental surveys with high temporal and spatial resolution. We propose an interdisciplinary approach with a technology push driven by researchers in control, computation, communications, sensing and vehicle design. The project will actively pursue cross-disciplinary interactions with European Networks of Excellence such as Euron (Robotics research), Artist (Embedded Systems Design), Marbef (Marine Biodiversity and Ecosystem Functioning) and with the Control and Dynamic Systems Alliance (Caltech, Santa Barbara, Princeton, Porto, Campinas and Lund universities). The project is organized into 8 tasks:
T0. Project management
T1. Challenge problem and control architecture
T2. Models and control for systems with evolving structure
T3. Distributed coordination protocols
T4. Coordinated maneuvers framework
T5. Coordinated path planning
T6. Simulation andevaluation
T7. Physical demonstration
Task T0 concerns technical and administrative management. This will be done in the framework of the IEEE standard for systems engineering process. There will be a Wiki to support collaborative research over the Internet.
Tasks T1-T5 address the key technical problems for this project. To make our developments tangible we will develop an oceanographic and environmental challenge problem from which specifications for the key problems will be derived. This will keep the project focused on technologies and computational tools for these problems. We plan to test and evaluate these tools and technologies first in simulation and later in a physical demonstration in the setting of the challenge problem. This will be done with networked air and sea-going vehicles and sensor networks contributed by Porto University and by the Porto Polytechnic Institute.
T1 we will also develop the formal control architecture and the technical specifications for the key problems to be addressed in tasks T2-5. This will be done in the context of the challenge problem and in the framework of dynamic networks of hybrid automata and multi-world semantics. We build on our recent work on the design of control architectures with verified properties.
Task T2 concerns the development of models and control technologies for systems with evolving structure. The structure of the system is described by a formal model within which problems of configuration control and safety are formulated in the setting of reachability techniques for configuration automata.
T3 aims at developing software technologies and tools for coordination in loosely coupled and evolving distributed NVSS and builds on research on mutable consensus protocols developed at Minho University. Research will be focused on reconciling this approach with real-time guarantees and on the development of specific coordination primitives which provide the required coordination properties.
T4-5 concerns the development of a layered maneuver coordination framework and of coordinated paths. This will be done in the context of maneuver design and supervision in the frameworks of hybrid automata and dynamic optimization for guaranteed results and formal verification. We will investigate properties of reach sets for simple dynamics under coordination constraints. |