ITR: Collaborative Research: -\(NHS+ASE)-\(int+dmc\): Networks of Robots and Sensors for First Responders

ITR：合作研究：-(NHS ASE)-(int dmc)：急救人员的机器人和传感器网络

• 批准号: 0426838
• 负责人: Daniela Rus
• 金额: --
• 依托单位: Massachusetts Institute of Technology
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2004
• 资助国家: 美国
• 起止时间: 2004-09-01 至 2010-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0426838&HistoricalAwards=false
• 关键词: ITR; Collaborative; Research; NHS+ASE; int+dmc

ABSTRACTITR: Collaborative Research (NHS + ASE) (int + dmc):Networks of Robots and Sensors for First RespondersPI: Daniela Rus, MITCo-PI: Vijay Kumar, U. PennsylvaniaCo-PI: Sanjiv Singh, CMUThis collaborative ITR project addresses the development of proactive networks of sensors and robots that perceive their environment and respond to it, anticipating information needs by the network and by users of the network, repositioning and organizing themselves to best acquire and deliver the information. Such networked systems combine the most advanced concepts in perception, communication, and control to create computational systems capable of interacting in meaningful ways with the physical environment, extending individual capabilities of each component and user to encompass a much wider area and range ofdata. The PIs envision a physical analog to the Internet-- networks of computers that can actively sense, physically interact with, and reason about the world. While the Internet allows transparent access to information already online, this research will extend the paradigm by allowing users to "google" for physical information, setting into motion robots and sensors that team together to acquire information and act on it. Intellectual MeritThe proposed research program will be make significant contributions to networked multi-agent systems: control, self-organization, adaptation, and perception. The work will focus on: (1) Control for communication and sensing: the control of robotic agents to maintain communication links or establish new ones, while obtaining the required sensory information and tracking sources; (2) Communication for sensing and perception: the fusion of information from heterogeneous sensors over the network, providing the required information for each agent to plan and control its mobility and providing remotely located human rescue workers with information through immersive displays; and (3) Communication networks for sensing and control: the grouping, scheduling and routing of nodes to adapt to changing, adverse conditions while maintaining guarantees for control of mobility and for sensor fusion and integration.Broader ImpactThe research will enhance national and homeland security by providing first responder with information about areas that are unsafe and hard to reach for humans in three ways. First, it will speed up the response time by helping in assessment, by augmenting human perception for command and control. Second, it will help in suppression and containment. Third, it will play a role in recovery, as in identification of victims and location of responding personnel. The collaboration with practitioners at the Allegheny Fire Training Academy will ensure that the research is grounded in the real world and has impact in the emergency response community.

摘要：协作研究 (NHS + ASE) (int + dmc)：急救人员的机器人和传感器网络 PI：Daniela Rus，麻省理工学院Co-PI：Vijay Kumar，U.宾夕法尼亚州 Co-PI：Sanjiv Singh，CMU 这个合作 ITR 项目致力于开发由传感器和机器人组成的主动网络，感知环境并对其做出响应，预测网络和网络用户的信息需求，重新定位并组织自己以最好的方式获取和传递信息。这种网络系统结合了感知、通信和控制方面最先进的概念，创建了能够以有意义的方式与物理环境交互的计算系统，扩展了每个组件和用户的个人能力，以涵盖更广泛的数据领域和范围。 PI 设想了一种类似于互联网的物理模拟——可以主动感知世界、与世界进行物理交互并推理的计算机网络。虽然互联网允许透明地访问已经在线的信息，但这项研究将扩展范式，允许用户“谷歌”搜索物理信息，设置运动机器人和传感器，它们共同获取信息并对其采取行动。 智力优势拟议的研究计划将为网络多智能体系统做出重大贡献：控制、自组织、适应和感知。该工作将重点关注：（1）通信和传感控制：控制机器人代理维持通信链路或建立新的通信链路，同时获取所需的传感信息和跟踪源； （2）传感和感知通信：通过网络融合来自异构传感器的信息，为每个智能体提供规划和控制其移动性所需的信息，并通过沉浸式显示为远程人类救援人员提供信息； (3) 用于传感和控制的通信网络：节点的分组、调度和路由，以适应不断变化的不利条件，同时保持对移动性控制以及传感器融合和集成的保证。更广泛的影响该研究将通过以下方式增强国家和国土安全：通过三种方式向急救人员提供有关人类不安全和难以到达的区域的信息。首先，它将通过帮助评估、增强人类对指挥和控制的感知来加快响应时间。二是有利于打压遏制。第三，它将在恢复中发挥作用，如识别受害者和定位响应人员。 与阿勒格尼消防培训学院从业人员的合作将确保该研究扎根于现实世界，并对应急响应社区产生影响。