TitleDesigning Real-Time Embedded Controllers using the Anytime Computing Paradigm
Publication TypeConference Paper
Year of Publication2009
Conference NameIEEE International Conference on Emerging Technology and Factory Automation
Pagination1 - 8
Date PublishedSeptember, 12 -
Publication Languageeng
AuthorsQuagli, A, Fontanelli, D, Greco, L, Palopoli, L, Bicchi, A
Conference LocationPalma de Mallorca, Spain
KeywordsEmbedded Control, Robotics

In this paper we present a methodology for designing embedded controllers with a variable accuracy. The adopted paradigm is the so called any-time control, which derives from the computing paradigm known as "imprecise computation". The most relevant contributions of the paper are a procedure for designing an incremental control law, whose different pieces cater for increasingly aggressive control requirements, and a modelling technique for the execution platform that allows us to design provably correct switching policies for the controllers. The methodology is validated by both simulations and experimental results.

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