Abstract — Heterogeneous sensor networks (HSNs) with multiple sensing modalities are gaining popularity in diverse fields. In this paper, we describe an approach for target tracking in urban environments utilizing a wireless HSN of mote class devices equipped with acoustic sensor boards and embedded PCs equipped with web cameras. Our system uses acoustic beamforming and motion detection for audio and video sensors, respectively. We also employ MCMCDA algorithm for data association and tracking. Experimental results from a deployment in an urban environment are used to demonstrate our approach. I.

Abstract—This paper introduces a novel and flexible simulation platform for studying pursuit and evasion in unknown 2-D environments of arbitrary obstacles, in an effort to expand the practical application of pursuit-evasion research. The platform provides realistic simulation of the sensing capability of each robotic agent (either a pursuer or an evader). Each agent uses real-time local sensing to collect information from the environment while it simultaneously plans and executes its motion to best satisfy one or more objectives. The evader’s objectives are to reach a specific goal location as quickly as possible and to avoid being caught by the pursuer. The pursuer’s objectives are to locate and capture the evader whose motion is unknown, and when the evader is not seen, explore the environment and predict where the evader may be. Under a common real-time planning paradigm, each agent’s planner dynamically adapts its goals and objectives to the agent’s changing circumstances so that the agent can always choose the best course of action. Simulation results have shown that the introduced approach is an effective means to study sophisticated pursuit-evasion scenarios and accomplish objectives for both the pursuer and the evader in an unknown environment. The platform can be easily expanded to accommodate multiple agents in more complex pursuit-evasion tasks.

This white paper on two currently hot areas on Cooperative Robotics research (Network Robot Systems and Formal Models and Methods) aims to: (1) survey the state of the art for the two areas, (2) list in a justified manner their expected advances in the upcoming ten years, (3) identify the application topics of interest for Europe so as to keep its research competitive at the international level, and (4) recommend lines of action for the support of EU research in Cooperative Robotics in the future. For each of the areas, this document discusses several key research aspects to achieve cooperative intelligent behavior, spanning the current landscape of research in this field. Applications where multi-robot systems interact in a natural way with humans at home, inside factories, and in hazardous environments are identified as the most promising domains where the EU may build a body of expertise which makes it the leader in the area of Cooperative Robotics. The intersection of the requirements for such applications with the expected research advances in future years and the current expertise at the EU level provides a list of recommendations for research priorities for Europe. Table of Contents

estimation in networked control systems subject to random delay and packet loss

L’obiettivo di quest’elaborato è creare le basi teoriche e tecniche per l’implementazione di un sistema di misura di posizione basato su telecamere per il NAVLAB. Tale sistema viene primariamente concepito come strumento atto a fornire in tempo reale le posizioni di un insieme di veicoli autonomi liberi di muoversi all’interno del campo visivo di una rete di telecamere installata in laboratorio. Inoltre, è previsto che tale strumento possa flessibilmente interfacciarsi ad una rete di sensori dislocata nello spazio operativo e fondere virtuosamente tutta l’informazione proveniente dal campo per meglio risolvere il problema di misura. Le posizioni rilevate dovranno essere processate e fornite all’utente come misure dotate di label, ovvero associate ai veicoli che le hanno generate. Il dispositivo che realizza tali compiti prende il nome

Climate control and monitoring of greenhouses is an important application which has some peculiar features. From a practical point of view, in order to achieve effective cultivation plans, the best environmental conditions inside a greenhouse have to be ensured. This requires that some specific variables, such as temperature, humidity and luminosity are controlled in order to follow desired profiles. The recent advances wireless sensor/actor networks (WSANs) offer an interesting opportunity in this area of application. In this paper we actually propose the use of (WSANs) for real-time monitoring and control of greenhouses. We start by reviewing the application features, particularly in terms of real-time performance. Then, we evidence the peculiar characteristics necessary for WSANs to satisfy the requirements for climate monitoring control. In the second part of the paper, we describe a case study based on 20:1 scaled down version of greenhouse including a complete and functioning real-time monitoring and control system employing a small multi-hop WSAN, which succeeded in controlling temperature, humidity and luminosity. Finally, we summarize our results and propose future research avenues. I.

Optimal estimation in networked control systems subject to random