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Optimization and Control of Cyber-Physical Vehicle Systems

Computer Science and Engineering Department, University of Nebraska - Lincoln, 256 Avery Hall, Lincoln, NE 68588, USA
Aerospace Engineering Department, University of Michigan, 1320 Beal Ave, Ann Arbor, MI 48109, USA
Author to whom correspondence should be addressed.
Academic Editor: Leonhard M. Reindl
Sensors 2015, 15(9), 23020-23049;
Received: 2 July 2015 / Revised: 10 August 2015 / Accepted: 27 August 2015 / Published: 11 September 2015
(This article belongs to the Special Issue Cyber-Physical Systems)
PDF [609 KB, uploaded 15 September 2015]


A cyber-physical system (CPS) is composed of tightly-integrated computation, communication and physical elements. Medical devices, buildings, mobile devices, robots, transportation and energy systems can benefit from CPS co-design and optimization techniques. Cyber-physical vehicle systems (CPVSs) are rapidly advancing due to progress in real-time computing, control and artificial intelligence. Multidisciplinary or multi-objective design optimization maximizes CPS efficiency, capability and safety, while online regulation enables the vehicle to be responsive to disturbances, modeling errors and uncertainties. CPVS optimization occurs at design-time and at run-time. This paper surveys the run-time cooperative optimization or co-optimization of cyber and physical systems, which have historically been considered separately. A run-time CPVS is also cooperatively regulated or co-regulated when cyber and physical resources are utilized in a manner that is responsive to both cyber and physical system requirements. This paper surveys research that considers both cyber and physical resources in co-optimization and co-regulation schemes with applications to mobile robotic and vehicle systems. Time-varying sampling patterns, sensor scheduling, anytime control, feedback scheduling, task and motion planning and resource sharing are examined. View Full-Text
Keywords: cyber-physical systems; control; real-time control; optimization; optimal control; robotics cyber-physical systems; control; real-time control; optimization; optimal control; robotics

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

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Bradley, J.M.; Atkins, E.M. Optimization and Control of Cyber-Physical Vehicle Systems. Sensors 2015, 15, 23020-23049.

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