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The Collaborative Sensing Language (CSL) is a high-level feedback control language for Mobile Sensor Networks (MSN). It specifies MSN controllers to accomplish network objectives with a dynamically changing ad-hoc resource pool. Furthermore, CSL is designed to allow the updating of controllers during execution (patching). This enables hierarchical control with simpler controllers at lower levels. The CSL Execution Engine contains the intelligence to allocate resources to tasks dynamically and adjust in real time to resource motion; this enables CSL controllers to be simple, intuitive and scalable. Experimental results show that the CSL Execution Engine performs these services with the addition of very little overhead.
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