@conference {GFB08,
	title = {Anytime Control Algorithms for Real-Time Embedded Systems},
	booktitle = {Int Conf of Hybrid Systems: Computation and Control},
	series = {Lecture Notes in Computer Science},
	volume = {4981/2008},
	year = {2008},
	pages = {158 - 171},
	publisher = {Springer-Verlag},
	organization = {Springer-Verlag},
	address = {St. Louis, MO},
	abstract = {<p>In this paper we consider the problem of designing controllers for linear plants to be implemented in embedded platforms under stringent real-time constraints. These include preemptive scheduling schemes, under which the maximum execution time allowed for control software tasks is uncertain. We propose an {\textquoteleft}{\textquoteleft}anytime control{\textquoteright}{\textquoteright} design approach, consisting in a hierarchy of controllers for the same plant. Higher controllers in the hierarchy provide better closed-loop performance, while typically requiring a larger worst-case execution time. We provide a procedure for the design of controllers which, together with a conditioning process of the stochastic scheduling, provides better performance than prevailing worst case-based design, while guaranteeing almost sure stability of the resulting switching system.</p>
},
	keywords = {Embedded Control, Robotics},
	author = {D. Fontanelli and L. Greco and A. Bicchi},
	editor = {M. Egerstedt and B. Mishra}
}
@conference {PMB08,
	title = {Steering a Leader-Follower Team via Linear Consensus},
	booktitle = {Hybrid Systems: Computation and Control},
	series = {Lecture Notes in Computer Science},
	volume = {4981/2008},
	year = {2008},
	pages = {642-645},
	publisher = {Springer-Verlag},
	organization = {Springer-Verlag},
	abstract = {<p>The paper considers the problem of driving a formation of autonomous mobile agents. The group of mobile devices is described as a leader{\textendash}follower network, where the followers update their position using a simple local consensus procedure, while the leaders, whose positions represent the control inputs of the network, are free to move. We characterize the transient behavior of the network, and solve the containment problem without relying on auxiliary sensors.</p>
},
	keywords = {Embedded Control, Robotics},
	author = {F. Pasqualetti and S. Martini and A. Bicchi},
	editor = {M. Egerstedt and B. Mishra}
}
