IMC: A communication protocol for networked vehicles and sensors

This paper presents the Inter-Module Communication (IMC) protocol, a message-oriented protocol designed and implemented in the Underwater Systems and Technology Laboratory (LSTS) to build interconnected systems of vehicles, sensors and human operators that are able to pursue common goals cooperatively by exchanging real-time information about the environment and updated objectives. IMC abstracts hardware and communication heterogeniety by providing a shared set of messages that can be serialized and transferred over different means.

[1]  Paulo Sousa Dias,et al.  Large scale data collection using networks of heterogeneous vehicles and sensors , 2009, OCEANS 2009-EUROPE.

[2]  C. M. Sperberg-McQueen,et al.  eXtensible Markup Language (XML) 1.0 (Second Edition) , 2000 .

[3]  Ian F. Akyildiz,et al.  Wireless sensor networks: a survey , 2002, Comput. Networks.

[4]  Naomi Ehrich Leonard,et al.  Collective Motion, Sensor Networks, and Ocean Sampling , 2007, Proceedings of the IEEE.

[5]  Paul J. Walmsley,et al.  XML Schema Part 0: Primer Second Edition , 2004 .

[6]  toExcel.  Extensible Stylesheet Language: Xsl Version 1.0 , 1999 .

[7]  João Borges de Sousa,et al.  Neptus - A Framework to Support a Mission Life Cycle , 2006 .

[8]  P. Varaiya,et al.  Task planning and execution for UAV teams , 2004, 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601).

[9]  R.P. Stokey,et al.  A Compact Control Language for AUV acoustic communication , 2005, Europe Oceans 2005.

[10]  João Borges de Sousa,et al.  Mission Review and Analysis , 2006, 2006 9th International Conference on Information Fusion.

[11]  Christiane Duarte,et al.  Defining a common control language for multiple autonomous vehicle operation , 2000, OCEANS 2000 MTS/IEEE Conference and Exhibition. Conference Proceedings (Cat. No.00CH37158).

[12]  J. Pinto,et al.  AUV Control and Communication using Underwater Acoustic Networks , 2007, OCEANS 2007 - Europe.

[13]  Ricardo Bencatel,et al.  EXPERIMENTAL RESULTS ON COMMAND AND CONTROL OF UNMANNED AIR VEHICLE SYSTEMS , 2007 .

[14]  A. Martins,et al.  SWORDFISH: an Autonomous Surface Vehicle for Network Centric Operations , 2007, OCEANS 2007 - Europe.