1. Systems Wireless EmBedded 1/18/2002WEBS Retreat Breakout1 Proposed Breakout Topics Programming Support for NEST –TinyOS macros, NesC, FSMs, SQLs, Matlab, Java –Is there a coherent picture of how they go together? –How should this evolve? What docs need to be written? Network Service Definition – we have ad hoc ‘services’ today »routing, time sync, localization, power mgmt, identity, operation discovery, schedule coordination »what should the std network services be? Relationship? Parameterized? Inter-application? Distributed Mapping Defn –bunch of robots move around a space and build shared map –map out demonstration appln Towards PEG Spec Evaluation of current platform

2. Systems Wireless EmBedded 1/18/2002WEBS Retreat Breakout2 Control Signals to pursuer GPS vision Tactical Planner & Regulation Vehicle- level sensor fusion Strategy Planner Map Builder Pursuers’ communication infrastructure Nest Sensorweb Physical Platform Sensorial Information Single vehicle estimation and control layer Vehicle coordination layer Let’s take a look at the Nest Architecture

3. Systems Wireless EmBedded 1/18/2002WEBS Retreat Breakout3 Nest architecture: modular modeling Sensor Network Middleware/Services Vehicle level sensor fusion Sensor readings self location timestamps Evaders’ position/velocity estimate Error bounds Estimated delay Global time Pursuers’ position Evaders’ position estimates

4. Systems Wireless EmBedded 1/18/2002WEBS Retreat Breakout4 Middleware Component Architecture Localization Communication Synchronization Tracking World Sensor Interface

5. Systems Wireless EmBedded 1/18/2002WEBS Retreat Breakout5 Coordination services and real-time synthesis Coordination algorithms –Localization –Time synchronization –Tracking –Data consistency check to spot compromised, malfunctioning nodes Real-time synthesis –Real time scheduling of services to be performed –Real time reconfiguration due to: »Compromised or faulty nodes »Reprioritization of optimality metrics