Title | Designing Real-Time Embedded Controllers using the Anytime Computing Paradigm |
Publication Type | Conference Paper |
Year of Publication | 2009 |
Conference Name | IEEE International Conference on Emerging Technology and Factory Automation |
Pagination | 1 - 8 |
Date Published | September, 12 - |
Publication Language | eng |
Authors | Quagli, A, Fontanelli, D, Greco, L, Palopoli, L, Bicchi, A |
Conference Location | Palma de Mallorca, Spain |
Keywords | Embedded Control, Robotics |
Abstract | 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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DOI | 10.1109/ETFA.2009.5347086 |