A Class of Co-Design Problems With Cyclic Constraints and Their Solution
A Class of Co-Design Problems With Cyclic Constraints and Their Solution
复制标题
一类带循环约束的协同设计问题及其求解
DOI：
10.1109/lra.2016.2535127
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发表时间：
2017
影响因子：
5.2
通讯作者：
A. Censi
中科院分区：
文献类型：
--
作者：
A. Censi
机器人领域中的协同设计问题涉及到在涉及能量、力学、计算和通信的递归约束下，在诸如成本、执行时间和能量等资源使用与任务性能之间的权衡。这封信表明，一大类CoDesign问题有一个共同的结构，因为它们由代表功能和资源的两个偏序集来描述。CoDesign约束可以表示为两个偏序集之间方向相反的两个映射。找到最节约资源的可行解相当于找到这两个映射合成的最小不动点。如果两个映射是单调的，则序理论的结果允许得出唯一性结论，并系统地推导出最优设计或不可行的证明。
Co-design problems in the field of robotics involve the tradeoff of “resources” usage, such as cost, execution time, and energy, with mission performance, under recursive constraints that involve energetics, mechanics, computation, and communication. This letter shows that a large class of codesign problems have a common structure, as they are described by two posets, representing functionality, and resources. The codesign constraints can be expressed as two maps in opposite directions between the two posets. Finding the most resource-economical feasible solution is equivalent to finding the least fixed point of the composition of those two maps. If the two maps are monotone, results from order theory allow concluding uniqueness and systematically deriving an optimal design or a certificate for infeasibility.