Opportunistic intermittent control with safety guarantees for autonomous systems

Chao Huang*, Shichao Xu, Zhilu Wang, Shuyue Lan, Wenchao Li, Qi Zhu

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Scopus citations

Abstract

Control schemes for autonomous systems are often designed in a way that anticipates the worst case in any situation. At runtime, however, there could exist opportunities to leverage the characteristics of specific environment and operation context for more efficient control. In this work, we develop an online intermittent-control framework that combines formal verification with model-based optimization and deep reinforcement learning to opportunistically skip certain control computation and actuation to save actuation energy and computational resources without compromising system safety. Experiments on an adaptive cruise control system demonstrate that our approach can achieve significant energy and computation savings.

Original languageEnglish (US)
Title of host publication2020 57th ACM/IEEE Design Automation Conference, DAC 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781450367257
DOIs
StatePublished - Jul 2020
Event57th ACM/IEEE Design Automation Conference, DAC 2020 - Virtual, San Francisco, United States
Duration: Jul 20 2020Jul 24 2020

Publication series

NameProceedings - Design Automation Conference
Volume2020-July
ISSN (Print)0738-100X

Conference

Conference57th ACM/IEEE Design Automation Conference, DAC 2020
Country/TerritoryUnited States
CityVirtual, San Francisco
Period7/20/207/24/20

Keywords

  • Energy saving
  • Formal methods
  • Opportunistic intermittent control
  • Robust control invariant
  • Safe RL
  • Safety guarantee

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Modeling and Simulation

Fingerprint

Dive into the research topics of 'Opportunistic intermittent control with safety guarantees for autonomous systems'. Together they form a unique fingerprint.

Cite this