论文标题
自主系统的共同设计：从硬件选择到控制合成
Co-Design of Autonomous Systems: From Hardware Selection to Control Synthesis
论文作者
论文摘要
设计网络物理系统是一项复杂的任务，需要在多个抽象水平上进行见解。单个组件的选择是深层互连的，需要共同研究。在这项工作中，我们考虑了共同设计控制算法以及周围平台的问题。特别是，我们利用共同设计的单调理论将LQG控制问题的变化形式化为单调可行性关系。然后，我们展示这是如何在机器人平台的更高级别共同设计问题中嵌入控制共同设计问题的。我们通过分析执行搜索和响应任务的自动无人机的共同设计来说明形式化的属性，并展示如何在一组所需的机器人行为上，我们可以计算Pareto有效的设计解决方案。
Designing cyber-physical systems is a complex task which requires insights at multiple abstraction levels. The choices of single components are deeply interconnected and need to be jointly studied. In this work, we consider the problem of co-designing the control algorithm as well as the platform around it. In particular, we leverage a monotone theory of co-design to formalize variations of the LQG control problem as monotone feasibility relations. We then show how this enables the embedding of control co-design problems in the higher level co-design problem of a robotic platform. We illustrate the properties of our formalization by analyzing the co-design of an autonomous drone performing search-and-rescue tasks and show how, given a set of desired robot behaviors, we can compute Pareto efficient design solutions.
