Synthesis of Resource-Aware Robotic Systems

This paper describes an approach to make robotic systems “resource-aware”, in the sense that they can adapt optimally to the available computation and communication resources. A resource-aware application is one where the functionality implemented depends on the resources usage, such as timing information (latency, throughput) and power consumption. Allowing this flexibility introduces a recursive constraint between application and resources usage: the resources usage is a function of the application and vice versa. Thus, the design problem consists in finding the least (most efficient) of the fixed points for the composition of those two maps. It is shown that a monotonicity property is sufficient to obtain an algorithm to compute the least fixed point in a systematic way.