システム自己をデータ構造として捉える：境界適応へのアーキテクチャ的アプローチ
System-Self as a Data Structure: An Architectural Approach to Bounded Adaptation
システム自身のアーキテクチャをグラフとして明示的に表現し、運用中にその構造を考慮して適応を行う手法を提案。センサドリフトやアクチュエータ故障時に、固定アーキテクチャでは追従誤差が最大24mに達するのに対し、提案手法では1.5m未満に抑えられることを示した。
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著者: Erwin Franz, Alhassan S. Yasin
分類: eess.SY
原文アブストラクト
Safety critical autonomous systems often adapt by adjusting controller parameters while keeping the underlying architecture fixed. This strategy breaks down when shifts in sensing, resource availability, or component health invalidate the original structural assumptions. This work introduces a method in which system maintain an explicit, graph-based representation of their architecture and reason over it during operation. The system is modeled as a directed graph of physical, functional, and model based modules, with edges capturing information and control dependencies. Adaptation is posed as a joint optimization over architectural configurations and module parameters, subject to operational constraints using a Monitor-Analyze-Plan-Execute loop-based finite state machine. Performance degradation is isolated via residual decomposition and dependency weighted influence propagation, and candidate adaptations are filtered using a stability aware mechanism. The approach is demonstrated on a differential drive robot under sensor drift and actuator faults. A fixed architecture accumulates tracking errors of up to 24 m and 13 m, respectively, whereas architecture aware adaptation reduces error under 1.5 m in each case, by selecting fault appropriate configurations. These results show the value of reasoning over system structure, while preserving stability, rather than relying solely on parameter tuning.
