Related papers: Synced Parallel Control Paths for Multi-Task Syste…
Real-time control systems often require dedicated hardware and software, including real-time operating systems, while many systems are available for off-line computing, mainly based on standard system units (PCs), standard network…
This paper proposes a form of MPC in which the control variables are moved asynchronously. This contrasts with most MIMO control schemes, which assume that all variables are updated simultaneously. MPC outperforms other control strategies…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
Parallel batched data structures are designed to process synchronized batches of operations in a parallel computing model. In this paper, we propose parallel combining, a technique that implements a concurrent data structure from a parallel…
Control parallelism and data parallelism is mostly reasoned and optimized as separate functions. Because of this, workloads that are irregular, fine-grain and dynamic such as dynamic graph processing become very hard to scale. An…
Ensuring constraint satisfaction is a key requirement for safety-critical systems, which include most robotic platforms. For example, constraints can be used for modeling joint position/velocity/torque limits and collision avoidance.…
Developing an efficient server-based real-time scheduling solution that supports dynamic task-level parallelism is now relevant to even the desktop and embedded domains and no longer only to the high performance computing market niche. This…
We describe a particular control method for a system controlled by several actuators with the same control constants. We show under certain assumptions that the control constants for the whole system can be obtained immediately from the…
We present a shared control paradigm that improves a user's ability to operate complex, dynamic systems in potentially dangerous environments without a priori knowledge of the user's objective. In this paradigm, the role of the autonomous…
There are billions of lines of sequential code inside nowadays' software which do not benefit from the parallelism available in modern multicore architectures. Automatically parallelizing sequential code, to promote an efficient use of the…
We propose an integrated control architecture to address the gap that currently exists for efficient real-time implementation of MPC-based control approaches for highly nonlinear systems with fast dynamics and a large number of control…
A parallel computer system is a collection of processing elements that communicate and cooperate to solve large computational problems efficiently. To achieve this, at first the large computational problem is partitioned into several tasks…
Motivated by large-scale optimization problems arising in the context of machine learning, there have been several advances in the study of asynchronous parallel and distributed optimization methods during the past decade. Asynchronous…
We consider the partitioned scheduling problem of multimode real-time systems upon identical multiprocessor platforms. During the execution of a multimode system, the system can change from one mode to another such that the current task set…
This study presents a synchronisation-oriented perspective towards adaptive control which views model-referenced adaptation as synchronisation between actual and virtual dynamic systems. In the context of adaptation, model reference…
Finding conditions that support synchronization is a fertile and active area of research with applications across multiple disciplines. Here we present and analyze a scheme for synchronizing chaotic dynamical systems by transiently…
Multi-mode real-time systems are those which support applications with different modes of operation, where each mode is characterized by a specific set of tasks. At run-time, such systems can, at any time, be requested to switch from its…
Parallel jobs are different from sequential jobs and require a different type of process management. We present here a process management system for parallel programs such as those written using MPI. A primary goal of the system, which we…
Automated Vehicle Path Following Control (PFC) is an advanced control system that can regulate the vehicle into a collision-free region in the presence of other objects on the road. Common collision avoidance functions, such as forward…
This paper presents an experimental study of a path-tracking framework for autonomous vehicles in which the lateral control command is applied to a dynamic control point along the wheelbase. Instead of enforcing a fixed reference at either…