Optimization and Control of Cyber-Physical Vehicle Systems

Authors

• Justin M. Bradley, University of Nebraska-LincolnFollow
• Ella M. Atkins, University of MichiganFollow

Document Type

Article

Date of this Version

2015

Citation

Sensors 2015, 15, 23020-23049; doi:10.3390/s150923020.

Comments

Copyright © 2015, the authors. Licensee MDPI, Basel, Switzerland. Open access, Creative Commons Attribution license 4.0.

Abstract

A cyber-physical system (CPS) is composed of tightly-integrated computation, communication and physical elements. Medical devices, buildings, mobile devices, robots, transportation and energy systems can benefit from CPS co-design and optimization techniques. Cyber-physical vehicle systems (CPVSs) are rapidly advancing due to progress in real-time computing, control and artificial intelligence. Multidisciplinary or multi-objective design optimization maximizes CPS efficiency, capability and safety, while online regulation enables the vehicle to be responsive to disturbances, modeling errors and uncertainties. CPVS optimization occurs at design-time and at run-time. This paper surveys the run-time cooperative optimization or co-optimization of cyber and physical systems, which have historically been considered separately. A run-time CPVS is also cooperatively regulated or co-regulated when cyber and physical resources are utilized in a manner that is responsive to both cyber and physical system requirements. This paper surveys research that considers both cyber and physical resources in co-optimization and co-regulation schemes with applications to mobile robotic and vehicle systems. Time-varying sampling patterns, sensor scheduling, anytime control, feedback scheduling, task and motion planning and resource sharing are examined.