Scheduling for offloading safety-critical applications within networked groups of vehicles
KAUST DepartmentComputer, Electrical and Mathematical Sciences and Engineering (CEMSE) Division
Electrical Engineering Program
King Abdullah University of Science and Technology
Permanent link to this recordhttp://hdl.handle.net/10754/666777
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AbstractThis paper presents a combined scheduling and path planning scheme for offloading of safety-critical applications in a group of networked vehicles. Due to the dynamic nature of such systems, a scheduler for applications to be offloaded needs to account for the changes of the network parameters. Such a scheduling scheme based on a mixed-integer program (MIP) is detailed with attention to the time-varying duration of message passing operations. Given knowledge of the scheduling requirements of applications to be offloaded, a path planner for a group of networked vehicles can ensure the resulting path will yield a feasible schedule for offloading. An method for generating such a path is described, utilizing the scheduling scheme and a mixed-integer program for path planning with integral communication capacity constraints. The combined scheme is demonstrated in a case study consisting of a pair of UAS equipped with a line-of-sight inter-vehicle a communication link and onboard processors. We show how the scheme can be used to make individual vehicles of the group fault-tolerant to processor failures.
CitationMains, J. B., Khamvilai, T., & Feron, E. (2020). Scheduling for Offloading Safety-Critical Applications Within Networked Groups of Vehicles. 2020 AIAA/IEEE 39th Digital Avionics Systems Conference (DASC). doi:10.1109/dasc50938.2020.9256820
SponsorsThe authors would like to thank General Atomics for the gift that supported this work.
Conference/Event name39th AIAA/IEEE Digital Avionics Systems Conference, DASC 2020