论文标题
任务驱动的车辆控制系统模块化共同设计
Task-driven Modular Co-design of Vehicle Control Systems
论文作者
论文摘要
在设计自主系统时，我们需要在各种抽象级别上考虑多个权衡，并且需要共同研究单个（硬件和软件）组件的选择。在这项工作中，我们考虑设计控制算法以及执行其执行平台的问题。特别是，我们专注于车辆控制系统，并将最先进的控制方案形式化为单调可行性关系。然后，我们展示如何利用共同设计的单调理论，我们可以研究控制合成问题的嵌入到机器人平台的任务驱动的共设计问题中。通过考虑城市驾驶场景来说明拟议方法的特性。我们展示了如何在特定任务的情况下如何有效地计算帕累托最佳设计解决方案。
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.
