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Trajectory control for an autonomous ground vehicle typically utilizes the error from the desired path or trajectory (i.e., crosstrack error) to produce velocity and steering commands. If an obstacle is in the path, previous techniques have synthesized a new trajectory that avoids the obstacles, and the vehicle directly follows this new path. This approach has drawbacks at high velocity, because the...
Data-adaptable reconfigurable embedded systems enable a flexible runtime implementation in which a system can transition the execution of tasks between hardware and software while simultaneously continuing to process data during the transition. Efficient runtime scheduling of task transitions is needed to optimize system throughput and latency of the reconfiguration and transition periods. In this...
Today's sensing and processing algorithms operate on vast data streams coming from a broad range on input sources. In response, embedded computing applications require a large degree of configurability and adaptability to operate on a variety of data inputs where the characteristic of the data inputs may also change over time. To address these challenges, runtime reconfigurable systems can enable...
The complexity of embedded applications has led to highly configurable algorithms and standards that support a wide range of data inputs. Design time optimization of these algorithms is not possible due to combinatorial explosion of data configurations -- or data profiles -- that can be observed at runtime. To address these challenges, data adaptable design methodologies can be utilized to directly...
In the template design method, an algorithm is defined in abstract terms. The template can then be used to create various subclasses to override that abstract behavior. This paper discusses a way in which the template method can be extended to the generation of software artifacts from models. Specifically, this new method will be an amalgam of techniques for applying template design concepts to modeling...
Trajectory-following controllers for autonomous ground vehicles must carefully consider the possibility of vehicle instability. Previous approaches have provided a reference velocity along with a trajectory to follow, and a supervisory controller selects low velocity if turns are anticipated. However, such an approach is not robust across different vehicle platforms, and does not take into account...
The behavior of an organization may be inferred based on the behavior of its members, their contacts, and their connectivity. One approach to organizational analysis is the construction and interpretation of a social network graph, where entities of an organization (persons, vehicles, locations, events, etc.) are nodes, and edges represent varying kinds of connectivity between entities. This paper...
The Joint Architecture for Unmanned Systems (JAUS) is a standard for sensing, control, and computational communication of components for unmanned systems. This paper presents a modeling environment capable of producing a domain-specific prototype of the software necessary for inter-computer communications. A metamodel is used to provide the domain-specific modeling language to model both the messages...
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