Monday, January 28, 2019 - 4:00pm to 4:50pm
Weniger Hall 151

Speaker Information

Houssam Abbas
Assistant Professor
Oregon State University

Abstract

In multi-agent systems, robots transmit their planned trajectories to each other or to a central controller, and each receiver plans its own actions by maximizing a measure of mission satisfaction. For missions expressed in temporal logic, the robustness function plays the role of satisfaction measure. It is not clear how the signal representation used to compress and transmit the signal affects the robustness computation error at the receiver, and the efficiency of computing it. An incorrect robustness value, or a delayed computation result, can mean the difference between successful control and a crash. Current practice uses simple Piece-Wise Linear interpolation to reconstruct the transmitted signal, which has little compressive ability. When communication capacity is at a premium, this is a serious bottleneck.

In this talk, we study these questions on two case studies from quadrotor flight and cardiac signal monitoring. We first show that the robustness computation is significantly affected by how the continuous-time signal is reconstructed from the received samples. We show that monitoring spline-based reconstructions yields a smaller robustness error, and that it can be done with the same time complexity as monitoring the simpler piece-wise linear reconstructions. We provide a tight bound on the robustness computation error, and leverage it to design a reconstruction scheme with an even lower computation error than the spline-based schemes. Thus classical signal processing techniques come to the rescue of fragile controller synthesis.

Speaker Bio

Houssam is an Assistant Professor in EECS at Oregon State University. Prior to that, he was a postdoctoral fellow at the University of Pennsylvania, and an SoC Verification engineer at Intel. His research interests are in the verification, control and programming of autonomous Cyber-Physical Systems. Current research includes the verification of life-supporting medical devices, the verification and control of autonomous vehicles with a view towards certifying such systems, and anytime computation and control. Houssam holds a PhD in Electrical Engineering from Arizona State University.