5 research outputs found
On the Co-Design of AV-Enabled Mobility Systems
The design of autonomous vehicles (AVs) and the design of AV-enabled mobility
systems are closely coupled. Indeed, knowledge about the intended service of
AVs would impact their design and deployment process, whilst insights about
their technological development could significantly affect transportation
management decisions. This calls for tools to study such a coupling and
co-design AVs and AV-enabled mobility systems in terms of different objectives.
In this paper, we instantiate a framework to address such co-design problems.
In particular, we leverage the recently developed theory of co-design to frame
and solve the problem of designing and deploying an intermodal Autonomous
Mobility-on-Demand system, whereby AVs service travel demands jointly with
public transit, in terms of fleet sizing, vehicle autonomy, and public transit
service frequency. Our framework is modular and compositional, allowing one to
describe the design problem as the interconnection of its individual components
and to tackle it from a system-level perspective. To showcase our methodology,
we present a real-world case study for Washington D.C., USA. Our work suggests
that it is possible to create user-friendly optimization tools to
systematically assess costs and benefits of interventions, and that such
analytical techniques might gain a momentous role in policy-making in the
future.Comment: 8 pages, 4 figures. Published in the Proceeding of the 23rd IEEE
Intelligent Transportation Systems Conference, ITSC 2020. arXiv admin note:
substantial text overlap with arXiv:1910.07714, arXiv:2008.0897
Co-Design of Autonomous Systems: From Hardware Selection to Control Synthesis
Designing cyber-physical systems is a complex task which requires insights at
multiple abstraction levels. The choices of single components are deeply
interconnected and need to be jointly studied. In this work, we consider the
problem of co-designing the control algorithm as well as the platform around
it. In particular, we leverage a monotone theory of co-design to formalize
variations of the LQG control problem as monotone feasibility relations. We
then show how this enables the embedding of control co-design problems in the
higher level co-design problem of a robotic platform. We illustrate the
properties of our formalization by analyzing the co-design of an autonomous
drone performing search-and-rescue tasks and show how, given a set of desired
robot behaviors, we can compute Pareto efficient design solutions.Comment: 8 pages, 6 figures, to appear in the proceedings of the 20th European
Control Conference (ECC21
On the Co-Design of AV-Enabled Mobility Systems
The design of autonomous vehicles (AVs) and the design of AV-enabled mobility systems are closely coupled. Indeed, knowledge about the intended service of AVs would impact their design and deployment process, whilst insights about their technological development could significantly affect transportation management decisions. This calls for tools to study such a coupling and co-design AVs and AV-enabled mobility systems in terms of different objectives. In this paper, we instantiate a framework to address such co-design problems. In particular, we leverage the recently developed theory of co-design to frame and solve the problem of designing and deploying an intermodal Autonomous Mobility-on-Demand system, whereby AVs service travel demands jointly with public transit, in terms of fleet sizing, vehicle autonomy, and public transit service frequency. Our framework is modular and compositional, allowing one to describe the design problem as the interconnection of its individual components and to tackle it from a system-level perspective. To showcase our methodology, we present a real-world case study for Washington D.C., USA. Our work suggests that it is possible to create user-friendly optimization tools to systematically assess costs and benefits of interventions, and that such analytical techniques might gain a momentous role in policy-making in the future