| 1. |
- Strömbom, Daniel, et al.
(författare)
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Solving the shepherding problem : Heuristics for herding autonomous, interacting agents
- 2014
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Ingår i: Journal of the Royal Society Interface. - : The Royal Society. - 1742-5689 .- 1742-5662. ; 11:100, s. 20140719-
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Tidskriftsartikel (refereegranskat)abstract
- Herding of sheep by dogs is a powerful example of one individual causing many unwilling individuals to move in the same direction. Similar phenomena are central to crowd control, cleaning the environment and other engineering problems. Despite single dogs solving this 'shepherding problem' every day, it remains unknown which algorithm they employ or whether a general algorithm exists for shepherding. Here, we demonstrate such an algorithm, based on adaptive switching between collecting the agents when they are too dispersed and driving them once they are aggregated. Our algorithm reproduces key features of empirical data collected from sheep-dog interactions and suggests new ways in which robots can be designed to influence movements of living and artificial agents.
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| 2. |
- Årzén, Karl-Erik, et al.
(författare)
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A component-based approach to the design of networked control systems
- 2007
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Ingår i: European Journal of Control. - : Elsevier BV. - 1435-5671 .- 0947-3580. ; 13:2-3, s. 261-279
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Tidskriftsartikel (refereegranskat)abstract
- Component-based techniques revolve around composable, reusable software objects that shield the application level software from the details of the hardware and low-level software implementation and vice versa. Components provide many benefits that have led to their wide adoption it software and middleware developed for embedded systems: They are well-defined entities that can be replaced without affecting the rest of the systems, they can be developed and tested separately and integrated later, and they are reusable. Clearly such features are important for the design of large-scale complex systems more generally, beyond software architectures. We propose the use of a component approach to address embedded control problems. We outline a general coponent-based framework to embedded control aid show how it can be instantiated inspecific problems that arise in the control over/of sensor networks. Building on the middleware component framework developed under the European project RUNES, we develop a number of control-oriented components necessary for the implementation of control applications and design their integration. The paper provides the overview of the approach, discusses a real life application where the approach has been tested and outlines a number of specific control problems that arise in this application.
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| 3. |
- Årzén, Karl-Erik, et al.
(författare)
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On the design and control of wireless networked embedded systems
- 2006
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Ingår i: 2006 IEEE Conference on Computer-Aided Control System Design, Vols 1 and 2. - : IEEE. - 9780780397972 ; , s. 143-148
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Konferensbidrag (refereegranskat)abstract
- Wireless networked embedded systems are becoming increasingly important in a wide area of technical fields. In this tutorial paper we present recent results on the design of these systems and their use in control applications, that have been developed within the project Reconfigurable Ubiquitous Networked Embedded Systems (RUNES). RUNES is a European Integrated Project with the aim to control complexity in networked embedded systems by developing robust and scalable middleware systems. New components for control under varying network conditions are discussed for the RUNES architecture. The paper highlights how the complexity of the closed-loop system is increased, due to additional disturbances introduced by the communication system: additional delays, jitter, data rate limitations, packet losses, etc. Experimental work on integration test beds that demonstrates these results is presented, together with motivating links to the RUNES disaster relief tunnel scenario.
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