Failure-Tolerant Contract-Based Design of an Automated Valet Parking System using a Directive-Response Architecture
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| Title | Failure-Tolerant Contract-Based Design of an Automated Valet Parking System using a Directive-Response Architecture |
|---|---|
| Authors | Josefine Graebener, Tung Phan-Minh, Jiaqi Yan, Qiming Zhao and Richard M. Murray |
| Source | Submitted, 2021 Conference on Decision and Control (CDC) |
| Abstract | Increased complexity in cyber-physical systems calls for modular system design methodologies that guarantee correct and reliable behavior, both in normal operations and in the presence of failures. This paper aims to extend the contract-based design approach using a directive-response architecture to enable reactivity to failure scenarios. The architecture is demonstrated on a modular automated valet parking (AVP) system. The contracts for the different components in the AVP system are explicitly defined, implemented, and validated against a Python implementation. |
| Type | Conference paper |
| URL | https://arxiv.org/abs/2103.12919 |
| DOI | |
| Tag | Gra+21:CDC |
| ID | 2021c |
| Funding | DENSO CPM, NSF T&E |
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