TY - CONF T1 - Designing Real-Time Embedded Controllers using the Anytime Computing Paradigm T2 - IEEE International Conference on Emerging Technology and Factory Automation Y1 - 2009 A1 - A. Quagli A1 - D. Fontanelli A1 - L. Greco A1 - L. Palopoli A1 - A. Bicchi KW - Embedded Control KW - Robotics AB -

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.

JF - IEEE International Conference on Emerging Technology and Factory Automation CY - Palma de Mallorca, Spain ER -