An integration framework for Control/Communication/Computation (3C) co-design with application in fleet control of AUVs

Abstract

In this paper we introduce an integration framework for Control/Communication/Computation (3C) co-design based on the motivating example of fleet control of Autonomous Underwater Vehicles (AUVs) supervised by an Autonomous Surface Vehicle (ASV). Specifically, we address the problem of almost sure stability of an unstable system with multiple observations over the packet erasure channel with emphasize on coding computational complexity. We look at the tradeoff between duty cycle for feedback channel use, coding computational complexity, and performance. We compare coding computational complexity and performance for two cases: a) No feedback channel at all, and b) Feedback channel all the time. It is shown that the strategy of using feedback channel results in a better performance.