View source for Control Design for Cyberphysical Systems Using Slow Computing

[[Image:slowncs-arch.png|right|400px]]
This project seeks to develop new, systematic methods for the design of
control systems that can work in the presence of slow computing
elements.   The development of such an architecture has the
possibility of providing new ways of integrating control into systems
where large amounts of fast computation are not easily available,
either due to limitations on power, physical size or choice of computing
substrate.  This project is supported by the National Science Foundation (NSF), award number 0931746.

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{| width=100%
|- valign=top
| width=50% | Current participants:
* {{Andrea Censi}}
* {{Shuo Han}}
| Past participants
* Javad Lavaei
* Somayeh Sojoudi
* Andrew Straw
|}

== Objectives ==
* Develop an ''architecture'' for control using slow computing
* Develop new theory and and tools for design of controller for cyberphysical systems that scale to slow computing
* Demonstrations of the methodology on university scale experiments in micro-vehicles.

== Publications ==
* [http://www.cds.caltech.edu/~murray/papers/2011j_chm12-icra.html Fault detection and isolation from uninterpreted data in robotic sensorimotor cascades], Andrea Censi, Magnus Håkansson and Richard M. Murray.  Submitted, 2012 International Conference on Robotics and Automation (ICRA).
* [http://www.cds.caltech.edu/~murray/papers/2011i_cm12-icra.html Learning diffeomorphism models of robotic sensorimotor cascades], Andrea Censi and Richard M. Murray.  Submitted, 2012 International Conference on Robotics and Automation.
* [http://www.cds.caltech.edu/~murray/papers/2011f_cm11-iros.html A group-theoretic approach to formalizing bootstrapping problems], Andrea Censi and Richard M. Murray.  2011 International Conference on Intelligent Robots and Systems (IROS).
* [http://www.cds.caltech.edu/~murray/papers/2011d_cm11-icdl.html Uncertain semantics, representation nuisances, and necessary invariance properties of bootstrapping agents], A. Censi and R. M. Murray.  IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL/EpiRob), 2011.
* [http://www.cds.caltech.edu/~murray/papers/2010o_cm11-icra.html Bootstrapping bilinear models of robotic sensorimotor cascades], Andrea Censi and Richard M. Murray.  2011 International Conference on Robotics and Automation (ICRA).
* {{hcsm10-iros}}
* {{lsm10-acc}}
* {{chfm09-cdc}}
* {{hcsm09-icra}}

== Additional Information ==
* [http://www.cds.caltech.edu/~murray/proposals/nsf09-cps.pdf Project proposal (Feb 2009)]

[[Category:Completed projects]]
{{#set: agency=NSF | end date = 2013}}