Unified Devs-Based Platform for Modeling and Simulation of Hybrid Control Systems

Marcosig, Ezequiel Pecker; Zudaire, Sebastián; Garrett, Martín; Uchitel, Sebastián; Castro, Rodrigo

doi:10.1109/wsc48552.2020.9384025

Cited by 1 publication

(2 citation statements)

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“…Hybrid control architectures may have different layers and layout [13,27,51,59,72]. In this work we will build on a three layer interface as explained in [72,97] which consist of: (a) a Discrete Event Layer which executes the discrete event controllers, (b) a Hybrid Control Layer which produces the translation between high-level events and low-level movement and actions, (c) a Robot Layer which contains the feedback-controllers and other capabilities of the robot system. In terms of discrete event controller synthesis, the execution environment modelled with an LTS E captures the behaviour of the Hybrid Control Layer together with the Robot Layer and all the continuous physical dynamics involved.…”

Section: Hybrid Controllersmentioning

confidence: 99%

“…The MORPH Effectors map to Actuators, while Probes map to Sensors, together with the required Hybrid Modules to make them work. To implement the rest of the components from the MORPH architecture we included several other modules (not present in the hybrid control architectures from [72,97]) that we will describe next.…”

Section: Architectural Extensions For Adaptabilitymentioning

confidence: 99%

See 1 more Smart Citation

Assured Mission Adaptation of UAVs

Zudaire

Nahabedian

Uchitel

2021

ACM Trans. Auton. Adapt. Syst.

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The design of systems that can change their behaviour to account for scenarios that were not foreseen at design time remains an open challenge. In this paper we propose an approach for adaptation of mobile robot missions that is not constrained to a predefined set of mission evolutions. We implement an adaptive software architecture and show how controller synthesis can be used both to guarantee correct transitioning from the old to the new mission goals with runtime architectural reconfiguration to include new software actuators and sensors if necessary. The architecture brings together architectural concepts that are commonplace in robotics such as temporal planning, discrete, hybrid and continuous control layers together with architectural concepts from adaptive systems such as runtime models and runtime synthesis. We validate the architecture flying several missions taken from the robotic literature for different real and simulated UAVs.

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