Implementation-aware design of image-based control with on-line measurable variable-delay
conference paper
Image-based control uses image-processing algorithms to acquire sensing information. The sensing delay associated with the image-processing algorithm is typically platform-dependent and time-varying. Modern embedded platforms allow to characterize the sensing delay at design-time obtaining a delay histogram, and at run-time measuring its precise value. We exploit this knowledge to design variable-delay controllers. This design also takes into account the resource configuration of the image processing algorithm: sequential (with one processing resource) or pipelined (with multiprocessing capabilities). Since the control performance strongly depends on the model quality, we present a simulation benchmark that uses the model uncertainty and the delay histogram to obtain bounds on control performance. Our benchmark is used to select a variable-delay controller and a resource configuration that outperform a constant worst-case delay controller.
Topics
TNO Identifier
867421
ISBN
9783981926323
Publisher
Institute of Electrical and Electronics Engineers IEEE
Article nr.
8714840
Source title
22nd Design, Automation and Test in Europe Conference and Exhibition, DATE 2019, 25-29 March 2019, Florence, Italy
Collation
6 p.
Pages
240-245
Files
To receive the publication files, please send an e-mail request to TNO Repository.