Year: 2024
Type: preprint
Abstract: Autonomous systems typically leverage layered control architectures with a combination of discrete and continuous models operating at different timescales. As a result, layered systems form a new class of hybrid systems composed of systems operating on a diverse set of continuous and discrete signals. This paper formalizes the notion of a layered (hierarchical) control architecture through a theory of relations between its layers. This theory enables us to formulate contracts within layered control systems -- these define interfaces between layers and isolate the design of each layer, guaranteeing that composition of contracts at each layer results in a contract capturing the desired system-wide specification. Thus, the proposed theory yields the ability to analyze layered control architectures via a compositional approach.
Source: arXiv (Cornell University)
Authors: Mazo, Manuel, Compton, Will, Cohen, Max H., Ames, Aaron D.
Language: English
Subfield: Computational Theory and Mathematics
Field: Computer Science
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W6966803168
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