1	CERO – CE Robots Community Rechnerorganisation und Kommunikation Humboldt-Universität zu Berlin
2	About CERO CERO – CE Robots Community is a project of the ROK Group at Humboldt University. CERO is part of our NOMADS Republic – Network of Mobile Adaptive Dependable systems. It received an Innovation Excellence Award for Embedded Systems from Microsoft Research in 2003.
3	Goals of CERO To deploy ad-hoc networking and servicing infrastructure and applications on the Windows CE platform using the Windows .NET Compact Framework. To combine the capabilities of an inexpensive commercial-of-the-shelf robotic system with the computing and communication functionality of a CE-based embeddable computer To create a robots community whose members cooperatively accomplish tasks, communicate with each other ad-hoc and gather evolutionary knowledge about behavior within this community
4	The Robots Community Inexpensive but powerful robots community with MAD-properties Mobility Adaptivity Dependability Real time Fault tolerance Security
5	Hardware Control Platform Windows CE Development Boards: Arcom Viper-M64-F32
6	Hardware Actuators LEGO Mindstorm RIS 2.0
7	Communication Hardware Bluetooth Anycom Blue CF-300 Compact Flash Card
8	Robotics and CE.NET Interface CE based embedded computers to robotic hardware from the game/toy market Simple interface (can be adopted to other robots and embedded devices) Access to robotics functions from within CE.NET framework Integrates standard communication technologies
9	The CERO Framework CE.NET-based software framework supporting Complex movements Consensus protocols Cooperation within communities Positioning MAD-properties Designed as a Service-Oriented Architecture (SOA)
10	Ad hoc Networking Using mobile nodes to perform routing Works independently of existing infrastructure Connecting robots without support of base station or access points Works with various wireless technologies (WLAN, Bluetooth, 433MHz radio)
11	Ad hoc Networking (continued) Current solutions: Clustering ad hoc routing with minimized number of control messages (optimized for embedded systems) Position-based routing with guaranteed message delivery (nodes are aware of their coordinates) Prediction and prevention of network partitioning
12	Outlook Future tasks Definition and development of complex cooperative tasks and activities Implementation of learning capabilities and SQL Server based common knowledge Definition of ad hoc networking scenarios that can be tested within CERO
13	Publications Vladimir Stantchev, Marian Scherz, Challenges of Service-Oriented Architectures, Proceedings of IPSI2004, Venice, October 2004. Nikola Milanovic, Jan Richling, Miroslaw Malek, Lightweight Services for Embedded Systems, Proceedings of 2nd IEEE Workshop on Software Technologies for Embedded and Ubiquitous Computing Systems, Vienna, Austria, May 2004 Peter K. Ibach, Matthias Horbank, Highly-Available Location-Based Services in Mobile Environments, International Service Availability Symposium, Munich, Germany, May 2004. Nikola Milanovic, Miroslaw Malek, A. Davidson, V. Milutinovic, Routing and Security in Mobile Ad Hoc Networks, IEEE Computer, February 2004 Nikola Milanovic, Vladimir Stantchev, Jan Richling, Miroslaw Malek, Towards Adaptive and Composable Services, Proceedings of IPSI2003, Sveti Stefan, Montenegro, 2003 Matthias Werner, Jan Richling, Nikola Milanovic, Vladimir Stantchev, Composability Concept for Dependable Embedded Systems, Proceedings of the International Workshop on Dependable Embedded Systems at the 22nd Symposium on Reliable Distributed Systems (SRDS 2003)