When Time Matters: Predictive Mission Planning in Cyber-Physical Scenarios
Future cyber-physical systems are expected to exploit autonomous robots to accomplish dangerous or complex missions composed of several tasks. A critical aspect is the availability of suitable mission planning strategies to react against external disturbances or hardware outages. Unfortunately, clas...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2019-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/8610073/ |
| _version_ | 1818618776524947456 |
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| author | Mauro Gaggero Donato Di Paola Antonio Petitti Luca Caviglione |
| author_facet | Mauro Gaggero Donato Di Paola Antonio Petitti Luca Caviglione |
| author_sort | Mauro Gaggero |
| collection | DOAJ |
| description | Future cyber-physical systems are expected to exploit autonomous robots to accomplish dangerous or complex missions composed of several tasks. A critical aspect is the availability of suitable mission planning strategies to react against external disturbances or hardware outages. Unfortunately, classic planning approaches may not take advantage of the ability of cyber-physical systems to collect a variety of information from sensors or IoT nodes, which can be used to forecast future events. Therefore, this paper proposes the adoption of predictive control for mission planning. Specifically, predictive control is used to compute online the best time instants when to change the assignment of tasks to robots by solving finite-horizon optimal control problems. The simulation results performed in comparison with “legacy” reactive and proactive strategies showcase the superiority of the proposed approach, especially in scenarios characterized by large disturbances. |
| first_indexed | 2024-12-16T17:26:58Z |
| format | Article |
| id | doaj.art-4e4beb5e117e460b81726bacd9be5e17 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-16T17:26:58Z |
| publishDate | 2019-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-4e4beb5e117e460b81726bacd9be5e172022-12-21T22:23:02ZengIEEEIEEE Access2169-35362019-01-017112461125710.1109/ACCESS.2019.28923108610073When Time Matters: Predictive Mission Planning in Cyber-Physical ScenariosMauro Gaggero0https://orcid.org/0000-0002-5048-4141Donato Di Paola1Antonio Petitti2Luca Caviglione3Institute of Marine Engineering, National Research Council of Italy, Genoa, ItalyInstitute of Intelligent Systems for Automation, National Research Council of Italy, Bari, ItalyInstitute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing, National Research Council of Italy, Bari, ItalyInstitute for Applied Mathematics and Information Technologies, National Research Council of Italy, Genoa, ItalyFuture cyber-physical systems are expected to exploit autonomous robots to accomplish dangerous or complex missions composed of several tasks. A critical aspect is the availability of suitable mission planning strategies to react against external disturbances or hardware outages. Unfortunately, classic planning approaches may not take advantage of the ability of cyber-physical systems to collect a variety of information from sensors or IoT nodes, which can be used to forecast future events. Therefore, this paper proposes the adoption of predictive control for mission planning. Specifically, predictive control is used to compute online the best time instants when to change the assignment of tasks to robots by solving finite-horizon optimal control problems. The simulation results performed in comparison with “legacy” reactive and proactive strategies showcase the superiority of the proposed approach, especially in scenarios characterized by large disturbances.https://ieeexplore.ieee.org/document/8610073/Predictive controloptimizationcyber-physical systemsautonomous agents |
| spellingShingle | Mauro Gaggero Donato Di Paola Antonio Petitti Luca Caviglione When Time Matters: Predictive Mission Planning in Cyber-Physical Scenarios IEEE Access Predictive control optimization cyber-physical systems autonomous agents |
| title | When Time Matters: Predictive Mission Planning in Cyber-Physical Scenarios |
| title_full | When Time Matters: Predictive Mission Planning in Cyber-Physical Scenarios |
| title_fullStr | When Time Matters: Predictive Mission Planning in Cyber-Physical Scenarios |
| title_full_unstemmed | When Time Matters: Predictive Mission Planning in Cyber-Physical Scenarios |
| title_short | When Time Matters: Predictive Mission Planning in Cyber-Physical Scenarios |
| title_sort | when time matters predictive mission planning in cyber physical scenarios |
| topic | Predictive control optimization cyber-physical systems autonomous agents |
| url | https://ieeexplore.ieee.org/document/8610073/ |
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