Collaborative Research: CPS: Medium: Constraint Aware Planning and Control for Cyber-Physical Systems

这项工作的目标是为计算机控制的复杂物理系统，一个广泛的网络物理系统（CPS）产生新的基础科学，并在飞行器和步行机器人中展示这门科学。 新的科学使自主规划和控制存在的故障和系统变量的突然变化。 一个框架的算法，利用意识的物理和设计约束，自主自适应他们的运动计划和控制行动的设计将产生。 该方法利用几何，自适应控制和混合控制的元素，推进知识的建模，规划和CPS的设计与约束，非光滑，交织的连续和离散动态。 与当前的方法不同，这些方法将与规划运动相关联的任务与用于控制的算法的设计相分离，从该项目中出现的算法在真实的时间内自学习和自适应，以科普运动和规范约束中的意外变化，从而使自主系统能够稳健和安全地执行，并在故障条件下优雅地降级。 具体而言，新算法将学习和监测物理和设计约束在真实的时间和适应规划器和控制器通过选择适当的约束，以执行，具有鲁棒性和安全性保证。 新工具的功能将在多腿机器人上进行演示，这些机器人在恶劣的环境中容易出现故障，以及在有争议/对抗性的环境中的飞行器上。拟议的计划通过解决建模，运动规划和CPS设计的约束，非平滑和交织的连续和离散动力学，为网络物理系统科学做出贡献。该建议的优点分为四大类：（i）一个框架，以数学方式制定基于学习的规划和控制CPS的意识，其约束，（ii）新的架构，导致强大的自适应约束满足，（iii）深入了解的角色和优先级的系统约束CPS，和（iv）工具和设计技术，允许工程师部署约束感知算法。这项工作的结果是广泛的，在他们的应用程序，需要规划和控制，特别是在运输（空中和地面）的自主系统的各种CPS。与三星、初创企业Ghost Robotics和博洛尼亚大学的研究人员的协同合作有助于将我们的成果应用于工业和学术界。 UCSC和密歇根大学的一个协同外展计划影响了高中学生和教师。该奖项反映了NSF的法定使命，并通过使用基金会的知识价值和更广泛的影响审查标准进行评估，被认为值得支持。

The objective of this work is to generate new fundamental science for computer controlled complex physical systems, a broad class of cyber-physical systems (CPS) and demonstrate this science in aerial vehicles and walking robots. The new science enables autonomous planning and control in the presence of failures and abrupt changes in system variables. A framework for the design of algorithms that exploit awareness of the physical and design constraints to autonomously self-adapt their motion plan and control actions will be generated. The approach exploits elements from geometry, adaptive control, and hybrid control to advance the knowledge on modeling, planning, and design of CPS with constraints, non-smooth, and intertwined continuous and discrete dynamics. Unlike current approaches, which separate the task associated with planning the motion from the design of the algorithm used for control, the algorithms to emerge from this project self-learn and self-adapt in real time to cope with unexpected changes in motion and specification constraints so as to enable autonomous systems to perform robustly and safely, and degrade gracefully under failure conditions. Specifically, the new algorithms will learn and monitor the physical and design constraints in real time and adapt both planner and controller by selecting the appropriate constraints to enforce, with robustness and safety guarantees. The capabilities of the new tools will be demonstrated on multi-legged robots in harsh environments that make them prone to failures, and on aerial vehicles in contested/adversarial environments.The proposed plan contributes to Science of Cyber-Physical Systems by addressing modeling, motion planning, and design of CPS with constraints, non-smooth, and intertwined continuous and discrete dynamics. The merits of the proposal fall into four broad categories: (i) a framework to mathematically formulate learning-based planning and control for CPS with awareness of its constraints, (ii) novel architectures that lead to robust adaptive constraint satisfaction, (iii) deep understanding of roles and priorities of system constraints in CPS, and (iv) tools and design techniques that permit engineers to deploy constraint aware algorithms. The results of this work are broad in their application to all kinds of CPS that require planning and control, in particular, autonomous systems in transportation (air and ground). Synergistic collaborations with researchers at Samsung, the start-up Ghost Robotics, and at the University of Bologna are instrumental in disseminating the application of our results to industry and academia. A synergistic outreach program at UCSC and the University of Michigan impacts high school students and teachers.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.