OneVision: Centralized to Distributed Controller Synthesis with Delay Compensation
Jiayi Wei,Tongrui Li,Swarat Chaudhuri,Isil Dillig,Joydeep Biswas,Jiayi Wei,Tongrui Li,Swarat Chaudhuri,Isil Dillig,Joydeep Biswas
We propose a new algorithm to simplify the controller development for distributed robotic systems subject to external observations, disturbances, and communication delays. Unlike prior approaches that propose specialized solutions to handling communication latency for specific robotic applications, our algorithm uses an arbitrary centralized controller as the specification and automatically genera...
