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Multilevel Planning for Self-Optimizing Mechatronic Systems

Authors:
Christoph Rasche
Steffen Ziegert

Keywords: hybrid planning; graph transformation; temporal planning; Pareto front; optimal planning

Abstract:
This paper presents a multilevel planning approach for the use in complex self-optimizing mechatronic systems. The approach has been designed for the RailCab system, which is an autonomous railbound transportation system. The term multilevel planning denotes planning on different levels of abstraction where each level involves different aspects and thus raises different planning tasks to solve. These planning tasks are not independent of each other. Plans for the higher level planning tasks involve reconfigurations of the system's software architecture and influence parameters used by the lower level planner to compute Pareto optimal behavior. Additionally, the higher level planner relies on plans computed by the lower level planner in order to meet the execution times (of system reconfigurations) that it assumed. To actually assure that the lower level planner computes Pareto optimal plans and takes multiple objectives (which are conflictive) into account, it is based on multi-objective optimization (with Pareto fronts as output).

Pages: 8 to 13

Copyright: Copyright (c) IARIA, 2013

Publication date: May 27, 2013

Published in: conference

ISSN: 2308-4146

ISBN: 978-1-61208-274-5

Location: Valencia, Spain

Dates: from May 27, 2013 to June 1, 2013