RecoNode: A reconfigurable node for heterogeneous multi-robot search and rescue

摘要: Search and rescue robots can benefit from small size as it facilitates access to voids movement in cramped quarters. Yet, cannot be the entire answer for urban search because limits of actuators, sensor payloads, computational capacity battery capacity. Nonetheless, we are attempting alleviate these limitations by developing hardware software infrastructure heterogeneous, wireless sensor/actuator/control networks that is well-suited miniature robots, well a host other relevant applications. These application-specific sensors, actuators intelligence will assembled backbone includes scalable computing, flexible I/O bus, multi-hop data networking. But two things ultimately give our its novelty: dual-baseband communications layer embedded virtual machine. The augments standard communication with secondary, sub-millisecond synchronization permit high-fidelity, deterministic, distributed control across network. determinism this layer, turn, enables creation machine, which programming construct abstracts away physical nodes. With infrastructure, not done at node level, conventional networks. Instead, task level port-based objects resources necessary either compile-time or run-time. At compile-time, system assist specification network, while run-time react changes configuration, such nodes exhausting their batteries losing connectivity. This paper describes progress to-date on specifically RecoNode high-performance, dynamically-reconfigurable Terminator-Bot crawling robot FireFly mid-performance node, real-time software.