Embedded control systems are prevalent in a multitude of domains such as automotive, avionics, industrial control etc. For such systems, robustness against non-idealities of the compute platform created by situations ...
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Embedded control systems are prevalent in a multitude of domains such as automotive, avionics, industrial control etc. For such systems, robustness against non-idealities of the compute platform created by situations such as hardware level transient faults (memory errors, sensor reading errors), network packet drops, late arrival of messages etc., is needed to be ensured at the design level. In traditional regular periodic execution of control loops, such guarantees are obtained by oversampling the plant, which requires extra rounds of sensing, control law computation, and actuation. One possible measure for reducing such over-provisioning of computing and communication resources is allowing occasional drops in the execution leading to better resource management as well as energy efficiency. This work showcases a methodology for deriving window-based bounds on possible drops in control loop executions while assuring formal performance guarantees even in the presence of platform-level non-idealities. Derivation of such relaxation bounds in terms of control loop executions help in deciding energy efficient scheduling solutions for low-power resource-constrained embedded control platforms while retaining control performance. The present work provides a structured methodology for deriving performance-aware control execution patterns given an energy-budget and uncertainty specification of the platform executing a set of embedded control loops.
In this paper, we study the translational and rotational (SE(N)) invariance properties of locally interacting multi-agent systems. We focus on a class of networked systems, in which the agents have local pairwise inte...
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ISBN:
(纸本)9783952426937
In this paper, we study the translational and rotational (SE(N)) invariance properties of locally interacting multi-agent systems. We focus on a class of networked systems, in which the agents have local pairwise interactions, and the overall effect of the interaction on each agent is the sum of the interactions with other agents. We show that such systems are SE(N)-invariant if and only if they have a special, quasi-linear form. The SE(N)-invariance property, sometimes referred to as "left invariance", is central to a large class of kinematic and robotic systems. When satisfied, it ensures independence to global reference frames. In an alternate interpretation, it allows for integration of dynamics and computation of controllaws in the agents' own reference frames. Such a property is essential in a large spectrum of applications, e. g., navigation in GPS-denied environments. Because of the simplicity of the quasi-linear form, this result can impact ongoing research on design of local interaction laws. It also gives a quick test to check if a given networked system is SE(N)-invariant.
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