Related papers: Towards Mapping Control Theory and Software Engine…
Motion planning for autonomous vehicles requires spatio-temporal motion plans (i.e. state trajectories) to account for dynamic obstacles. This requires a trajectory tracking control process which faithfully tracks planned trajectories. In…
Many academics have called for increasing attention to theory in software engineering. Consequently, this paper empirically evaluates two dissimilar software development process theories - one expressing a more traditional, methodical view…
The defining characteristic of event-based control is that feedback loops are only closed when indicated by a triggering condition that takes recent information about the system into account. This stands in contrast to periodic control…
This paper proposes a feedback linearizing law for single-track dynamic models, allowing the design of a trajectory tracking controller exploiting linear control theory. The main characteristics of this algorithm are its simplicity, its…
This paper describes a novel approach to software engineering derived from the "SP Theory of Intelligence" and its realisation in the "SP Computer Model". Despite superficial appearances, it is shown that many of the key ideas in software…
With the increase of research in self-adaptive systems, there is a need to better understand the way research contributions are evaluated. Such insights will support researchers to better compare new findings when developing new knowledge…
This is a collection of the lecture notes of the three authors for a first-year graduate course on control system theory and design (ECE 515 , formerly ECE 415) at the ECE Department of the University of Illinois at Urbana-Champaign. This…
This paper presents a novel two-level control architecture for a fully autonomous vehicle in a deterministic environment, which can handle traffic rules as specifications and low-level vehicle control with real-time performance. At the top…
A common approach in robotics is to learn tasks by generalizing from special cases given by a so-called demonstrator. In this paper, we apply this paradigm and present an algorithm that uses a demonstrator (typically given by a trajectory…
Despite rapid evolution, embedded computing systems increasingly feature resource constraints and workload uncertainties. To achieve much better system performance in unpredictable environments than traditional design approaches, a novel…
Design patterns are elegant and well-tested solutions to recurrent software development problems. They are the result of software developers dealing with problems that frequently occur, solving them in the same or a slightly adapted way. A…
The traditional control theory and its application to basic and complex systems have reached an advanced level of maturity. This includes aerial, marine, and ground vehicles, as well as robotics, chemical, transportation, and electrical…
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 well-known Unified Modeling Language (UML) describes software entities, such as interfaces, classes, operations and attributes, as well as relationships among them, e.g. inheritance, containment and dependency. The power of UML lies in…
The engineering design process follows a series of standardized stages of development, which have many aspects in common with software engineering. Among these stages, the principle solution can be regarded as an analogue of the design…
Control theoretical techniques have been successfully adopted as methods for self-adaptive systems design to provide formal guarantees about the effectiveness and robustness of adaptation mechanisms. However, the computational effort to…
The verification and validation of cyber-physical systems is known to be a difficult problem due to the different modeling abstractions used for control components and for software components. A recent trend to address this difficulty is to…
Mapping complex metadata structures is crucial in a number of domains such as data integration, ontology alignment or model management. To speed up that process automatic matching systems were developed to compute mapping suggestions that…
The design of a system and its implementation are two tasks often carried out by different individuals on a development team, and can occur weeks or months apart. This creates a potential for divergence between real behavior and the…
Machine-learning (ML) techniques have become popular in the recent years. ML techniques rely on mathematics and on software engineering. Researchers and practitioners studying best practices for designing ML application systems and software…