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, Richard M Murray
Source Submitted, 2021 American Control Conference
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 http://www.cds.caltech.edu/~murray/preprints/aaaYY-place.pdf
Tag JG+21-acc
ID 2020h
Funding NSF T&E
Flags NCS