Real-time software module design framework for building self-adaptive robotic systems

Cui, Yanzhe; Lane, Joshua T.; Voyles, Richard M.

doi:10.1109/iros.2015.7353731

Cited by 4 publications

(1 citation statement)

References 11 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…A few proposed software infrastructures have focused on supporting online reconfiguration, which must reason about complete systems. Port-based automatons [10]- [12] provide a framework for reconfiguring software systems for FPGAbased systems in response to online performance metrics. This approach can add, remove, or replace software components while respecting computational limitations, since software can be directly mapped to hardware, but sacrifices more complex constraints such as bandwidth limits or parallel software pipelines (e.g.…”

Section: A Software Infrastructures and Reconfigurationmentioning

confidence: 99%

Context-Aware System Synthesis, Task Assignment, and Routing

Ziglar¹,

Williams²,

Wicks³

2017

Preprint

View full text Add to dashboard Cite

The design and organization of complex robotic systems traditionally requires laborious trial-and-error processes to ensure both hardware and software components are correctly connected with the resources necessary for computation. This paper presents a novel generalization of the quadratic assignment and routing problem, introducing formalisms for selecting components and interconnections to synthesize a complete system capable of providing some user-defined functionality. By introducing mission context, functional requirements, and modularity directly into the assignment problem, we derive a solution where components are automatically selected and then organized into an optimal hardware and software interconnection structure, all while respecting restrictions on component viability and required functionality. The ability to generate complete functional systems directly from individual components reduces manual design effort by allowing for a guided exploration of the design space. Additionally, our formulation increases resiliency by quantifying resource margins and enabling adaptation of system structure in response to changing environments, hardware or software failure. The proposed formulation is cast as an integer linear program which is provably N P-hard. Two case studies are developed and analyzed to highlight the expressiveness and complexity of problems that can be addressed by this approach: the first explores the iterative development of a ground-based search-andrescue robot in a variety of mission contexts, while the second explores the large-scale, complex design of a humanoid disaster robot for the DARPA Robotics Challenge. Numerical simulations quantify real world performance and demonstrate tractable time complexity for the scale of problems encountered in many modern robotic systems.

show abstract

Section: A Software Infrastructures and Reconfigurationmentioning

confidence: 99%