The development of control applications for multi-agent robot and sensor networks is complicated by the heterogeneous nature of the systems involved, as well as their physical capabilities (or limitations). Pancakes is a software framework that unifies mobile robots with sensor and actuator networks. This framework addresses the need for these systems to dynamically adjust their actuating, sensing, and networking capabilities based on physical constraints, such as power levels. Furthermore, it allows for sensing and control algorithms to migrate to different platforms, which gives multi-agent control application designers the ability to adjust sensing and control as the network evolves.
This project is a work in progress! Check back for more updates.