@article {GFB11,
	title = {Design and Stability Analysis for Anytime Control via Stochastic Scheduling},
	journal = {IEEE Trans. on Automat. Contr.},
	volume = {56},
	number = {3},
	year = {2011},
	pages = {571 - 585},
	keywords = {Embedded Control, Robotics},
	author = {L. Greco and D. Fontanelli and A. Bicchi}
}
@article {QFGPB10,
	title = {Design of Embedded Controllers Based on Anytime Computing},
	journal = {IEEE Trans. Industrial Infor.},
	volume = {6},
	number = {4},
	year = {2010},
	pages = {492 - 502},
	abstract = {<p>In this paper, we present a methodology for designing embedded controllers based on the so-called anytime control paradigm. A control law is split into a sequence of subroutine calls, each one fulfilling a control goal and refining the result produced by the previous one. We propose a design methodology to define a feedback controller structured in accordance with this paradigm and show how a switching policy of selecting the controller subroutines can be designed that provides stability guarantees for the closed-loop system. The cornerstone of this construction is a stochastic model describing the probability of executing, in each activation of the controller, the different subroutines. We show how this model can be constructed for realistic real-time task sets and provide an experimental validation of the approach.</p>
},
	keywords = {Embedded Control, Robotics},
	author = {A. Quagli and D. Fontanelli and L. Greco and L. Palopoli and A. Bicchi}
}
@conference {QFGPB-ETFA09,
	title = {Designing Real-Time Embedded Controllers using the Anytime Computing Paradigm},
	booktitle = {IEEE International Conference on Emerging Technology and Factory Automation},
	year = {2009},
	month = {September, 12 - },
	pages = {1 - 8},
	address = {Palma de Mallorca, Spain},
	abstract = {<p>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.</p>
},
	keywords = {Embedded Control, Robotics},
	doi = {10.1109/ETFA.2009.5347086},
	author = {A. Quagli and D. Fontanelli and L. Greco and L. Palopoli and A. Bicchi}
}
