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Modern software systems are often equipped with hundreds to thousands of configuration options, many of which greatly affect performance. Unfortunately, properly setting these configurations is challenging for developers due to the complex…
Model-based diagnostic reasoning often leads to a large number of diagnostic hypotheses. The set of diagnoses can be reduced by taking into account extra observations (passive monitoring), measuring additional variables (probing) or…
In recent years, formal methods have been extensively used in the design of autonomous systems. By employing mathematically rigorous techniques, formal methods can provide fully automated reasoning processes with provable safety guarantees…
Encrypted control enables confidential controller evaluations in cloud-based or networked control systems. From a technical point of view, an encrypted controller is a modified control algorithm that is capable of computing encrypted…
Service robots are complex, heterogeneous, software intensive systems built from components. Recent robotics research trends mainly address isolated capabilities on functional level. Non-functional properties, such as responsiveness or…
Model Predictive Control (MPC) has established itself as the primary methodology for constrained control, enabling autonomy across diverse applications. While model fidelity is crucial in MPC, solving the corresponding optimization problem…
The multiplication of architecture description languages, component models and platforms implies a serious dilemma for component based software architects. On the one hand, they have to choose a language to describe concrete configurations…
We consider retrofitting structure-aware Transformer-based language model for facilitating end tasks by proposing to exploit syntactic distance to encode both the phrasal constituency and dependency connection into the language model. A…
A high-level architecture of a Hybrid Reconfigurable CPU, based on a Philips-supported core processor, is introduced. It features the Philips XPLA2 CPLD as a reconfigurable functional unit. A compilation chain is presented, in which…
We propose a shared semantic map architecture to construct and configure Model Predictive Controllers (MPC) dynamically, that solve navigation problems for multiple robotic agents sharing parts of the same environment. The navigation task…
We consider the basic features of complex dynamical and control systems. Special attention is paid to the problems of synthesis of dynamical models of complex systems, construction of efficient control models, and to the development of…
We propose joining a flexible mesh design with an integrated residual transcription in order to improve the accuracy of numerical solutions to optimal control problems. This approach is particularly useful when state or input trajectories…
This abstract describes the first public demonstration of feedback control and coordination of multiple physical systems over a dynamic multi-hop low-power wireless network with update intervals of tens of milliseconds. Our running system…
A computing job in a big data system can take a long time to run, especially for pipelined executions on data streams. Developers often need to change the computing logic of the job such as fixing a loophole in an operator or changing the…
Feedback control algorithms traditionally rely on periodic execution on digital platforms. While this simplifies design and analysis, it often leads to inefficient resource usage (e.g., CPU, network bandwidth) in embedded control and shared…
The design and organization of complex robotic systems traditionally requires laborious trial-and-error processes to ensure both hardware and software components are correctly connected with the resources necessary for computation. This…
This paper establishes new sufficient conditions for Mittag-Leffler stability of Caputo fractional-order nonlinear systems with state-dependent delays. The central analytical tool is a class of Lyapunov-Krasovskii functionals that…
Large software systems tune hundreds of 'constants' to optimize their runtime performance. These values are commonly derived through intuition, lab tests, or A/B tests. A 'one-size-fits-all' approach is often sub-optimal as the best value…
This paper presents an FPGA runtime framework that demonstrates the feasibility of using dynamic partial reconfiguration (DPR) for time-sharing an FPGA by multiple realtime computer vision pipelines. The presented time-sharing runtime…
Rollback recovery strategies are well-known in concurrent and distributed systems. In this context, recovering from unexpected failures is even more relevant given the non-deterministic nature of execution, which means that it is…