Abstract
This paper considers real-time coordination of a mobile sensor network composed of heterogeneous resources with partially overlapping functionalities in charge of executing multiple sequences of interconnected tasks. A discrete event controller based on a matrix-based formalism is adopted to combine in a single framework task planning, dynamic resource assignment with look-ahead, and shared resource conflict resolution with utility-based method. The matrix based controller is modular and can be easily reconfigured if mission characteristics or network topology change. Simulations and preliminary results on an experimental platform are provided to illustrate the main features of the proposed control approach.
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