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A Mission-Oriented Coordination Framework for Teams of Mobile Aerial and Terrestrial Smart Objects

机译：移动空中和地面智能对象团队的面向任务的协调框架

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摘要

Very recently, the paradigm of the Internet of Mobile Things (IoMT), in which smart things can be moved or can move autonomously whilst remaining accessible and controllable remotely, has been the object of a great attention in the research community. In this context, the paper proposes and investigates a novel framework to support both the management and the collaboration of Mobile Smart Objects (MSOs) considered as terrestrial and aerial drones (i.e., UAVs, UGVs). MSOs are equipped with embedded sensors and/or actuators and can move autonomously always remaining connected, accessible and controllable. The proposed framework allows the programming and management of smart drones and the coordination of teams of drones according to a mission-oriented paradigm. Coordination is dynamically enabled by specific executive parameters and system conditions (i.e., residual energy, computational power, abilities offered by specific on board sensors). To evaluate the effectiveness and the reliability of the proposed framework, a real testbed was created using off-the-shelf drones.
机译：最近，移动物联网（IoMT）的范例已成为研究界关注的对象，在该范例中，可以移动或可以自动移动智能事物，同时保持可访问和可控制的远程状态。在此背景下，本文提出并研究了一种新颖的框架，以支持被视为陆地和空中无人机（即UAV，UGV）的移动智能对象（MSO）的管理和协作。 MSO配备了嵌入式传感器和/或执行器，可以自动移动，始终保持连接，可访问和可控制的状态。所提出的框架允许根据面向任务的范例对智能无人机进行编程和管理，以及对无人机团队进行协调。通过特定的执行参数和系统条件（即，剩余能量，计算能力，特定的车载传感器提供的功能）动态启用协调。为了评估所提出框架的有效性和可靠性，使用现成的无人机创建了一个真实的测试平台。

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