タスク駆動型モジュール共設計による車両制御システム
Task-driven Modular Co-design of Vehicle Control Systems
車両制御アルゴリズムと実行プラットフォームを同時に設計するため、制御手法を単調な実現可能性関係として定式化し、共設計理論でパレート最適解を効率的に求める手法を提案した。
著者: Gioele Zardini, Zelio Suter, Andrea Censi, Emilio Frazzoli
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
When designing autonomous systems, we need to consider multiple trade-offs at various abstraction levels, and the choices of single (hardware and software) components need to be studied jointly. In this work we consider the problem of designing the control algorithm as well as the platform on which it is executed. In particular, we focus on vehicle control systems, and formalize state-of-the-art control schemes as monotone feasibility relations. We then show how, leveraging a monotone theory of co-design, we can study the embedding of control synthesis problems into the task-driven co-design problem of a robotic platform. The properties of the proposed approach are illustrated by considering urban driving scenarios. We show how, given a particular task, we can efficiently compute Pareto optimal design solutions.
