Event-based Wireless Control for Cyber-physical Systems

PIs: Sebastian Trimpe (Max-Planck-Institut für Intelligente Systeme), Marco Zimmerling (TU Dresden)

The next generation of engineered systems will tightly integrate the physical world with computing and communication. These cyber-physical systems (CPS) will exceed present day systems in size, complexity, safety, reliability, and ecological requirements. The EcoCPS project targets the joint design and tight integration of distributed event-based control and low-power wireless networking to demonstrate tangible benefits over traditional isolated designs in terms of, for example, superior performance and robustness, reduced costs, and unprecedented flexibility. To this end, we establish a fundamental understanding and unified description of wireless communication and event-based control and their interrelations so as to develop principled methods for their co-design and tight integration. The methods will take into account the constraints, inter-dependencies, and needs for mutual information exchange between the two systems to optimize system-level performance, while providing theoretical guarantees. Eventually, we aim at a design, where the event-based control system informs the communication system in real-time about its feedback requirements, allowing the wireless network to reconfigure while still guaranteeing end-to-end real-time communication. The benefits of this design will be evaluated on a real-world CPS demonstrator involving unstable, spatially distributed control processes being controlled over a multi-hop low-power wireless network.

Involved PhD and PostDoc candidates

  • Dominik Baumann: Dominik Baumann holds a diploma in electrical engineering from the TU Dresden. In 2017, he joined the Autonomous Motion Department at the Max Planck Institute for Intelligent Systems, Tuebingen. Dominik is working primarily on the project “Distributed and Event-based Wireless Control for Cyber-physical Systems” with Sebastian Trimpe.
  • Fabian Mager: In 2015, Fabian Mager graduated with a diploma degree in media compute science from TU Dresden. After working for one year as a research assistant in the Systems Engineering Group, he joined the Networked Embedded Systems Group of the Center for Advancing Electronics Dresden (CFAED) at TU Dresden in April 2016. Fabian works on wireless networking and system design aspects within the project “Distributed and Event-based Wireless Control for Cyber-physical Systems” with Marco Zimmerling.

Publications

  1. S. Trimpe: Predictive and Self Triggering for Event-based State Estimation, Proceedings of the 55th IEEE Conference on Decision and Control, pp. 3098-3105, Las Vegas, NV, USA, December 2016.
  2. M. Zimmerling, L. Mottola, P. Kumar, F. Ferrari, L. Thiele: Adaptive Real-time Communication for Wireless Cyber-physical Systems, ACM Transactions on Cyber-Physical Systems, vol. 1, no 2, pp. 8:1-8:29, February 2017.
  3. R. Jacob, M. Zimmerling, P. Huang, J. Beutel, L. Thiele: End-to-end Real-time Guarantees in Wireless Cyber-physical Systems, Proceedings of the 37th IEEE Real-Time Systems Symposium (RTSS), pp. 167-178, Porto, Portugal, November 2016.
  4. F. Mager, J. Neumann, C. Herrmann, M. Zimmerling, F. Fitzek: Poster Abstract: All-to-all Communication in Multi-hop Wireless Networks with Mixer, Proceedings of the 14th ACM Conference on Embedded Networked Sensor Systems (SenSys), pp. 360-361, Stanford, CA, USA, November 2016.
  5. Michael Muehlebach and Sebastian Trimpe: Distributed Event-Based State Estimation for Networked Systems: An LMI Approach, IEEE Transactions on Automatic Control, 63(1):269-276, January 2018.
  6. Sebastian Trimpe: Event-based State Estimation: An Emulation-based Approach, IET Control Theory & Applications, 11(11):1684-1693, July 2017. ar).
  7. Abdelrahman Abdelkader, Johannes Richter, Eduard Jorswieck, and Marco Zimmerling: Multi-flow Glossy: Physical-layer Network Coding Meets Embedded Wireless Systems, Proceedings of the 26th International Conference on Computer Communications and Networks (ICCCN), Vancouver (BC, Canada), July 2017.
  8. Romain Jacob, Licong Zhang, Marco Zimmerling, Jan Beutel, Samarjit Chakraborty, and Lothar Thiele: TTW: A Time-Triggered-Wireless Design for CPS, Proceedings of Design, Automation and Test in Europe (DATE), Dresden (Germany), March 2018.
  9. Dominik Baumann, Fabian Mager, Harsoveet Singh, Marco Zimmerling, and Sebastian Trimpe: Evaluating Low-Power Wireless Cyber-Physical Systems, Proceedings of the 1st Workshop on Benchmarking Cyber-Physical Networks and Systems (CPSBench 2018), April 2018.
  10. Friedrich Solowjow, Dominik Baumann, Jochen Garcke, and Sebastian Trimpe: Event-triggered Learning for Resource-efficient Networked Control, Proceedings of the 2018 American Control Conference (ACC), June 2018 (to appear).
  11. Fabian Mager, Carsten Herrmann, and Marco Zimmerling: One for All, All for One: Toward Efficient Many-to-Many Broadcast in Dynamic Wireless Networks, Proceedings of the 4th ACM Workshop on Hot Topics in Wireless (HotWireless – colocated with ACM MobiCom), Snowbird (UT, USA), October 2017.
  12. Herrmann, Carsten & Mager, Fabian & Zimmerling, Marco. (2018). Mixer: Efficient Many-to-All Broadcast in Dynamic Wireless Mesh Networks. 16th ACM Conference on Embedded Networked Sensor Systems (SenSys)
  13. Baumann, Dominik & Zhu, Jia-Jie & Martius, Georg & Trimpe, Sebastian. (2018). Deep Reinforcement Learning for Event-Triggered Control. 8 IEEE Conference on Decision and Control (CDC)
  14. Solowjow, Friedrich & Baumann, Dominik & Garcke, Jochen & Trimpe, Sebastian. (2018). Event-Triggered Learning for Resource-Efficient Networked Control. Annual American Control Conference (ACC)
  15. Baumann, Dominik & Mager, Fabian & Singh, Harsoveet & Zimmerling, Marco & Trimpe, Sebastian. (2018). Evaluating Low-Power Wireless Cyber-Physical Systems. IEEE Workshop on Benchmarking Cyber-Physical Networks and Systems (CPSBench)
  16. Mager, Fabian & Baumann, Dominik & Jacob, Romain & Thiele, Lothar & Trimpe, Sebastian & Zimmerling, Marco. (2018). Feedback Control Goes Wireless: Guaranteed Stability over Low-power Multi-hop Networks. 10th ACM/IEEE International Conference on Cyber-Physical Systems
  17. Mager, Fabian & Baumann, Dominik & Trimpe, Sebastian & Zimmerling, Marco. (2018). Toward Fast Closed-loop Control over Multi-hop Low-power Wireless Networks. 17th ACM/IEEE International Conference on Information Processing in Sensor Networks (IPSN)
  18. Mager, Fabian & Jacob, Romain & Forno, Reto & Zimmerling, Marco. (2019). Competition: Low-Power Wireless Bus Baseline. International Conference on Embedded Wireless Systems and Networks (EWSN)
  19. Baumann, Dominik & Mager, Fabian & Jacob, Romain & Thiele, Lothar & Zimmerling, Marco & Trimpe, Sebastian. (2019). Fast Feedback Control over Multi-hop Wireless Networks with Mode Changes and Stability Guarantees. ACM Transactions on Cyber-Physical Systems
  20. Mastrangelo, José & Baumann, Dominik & Trimpe, Sebastian. (2019). Predictive Triggering for Distributed Control of Resource Constrained Multi-agent Systems. 8th IFAC Workshop on Distributed Estimation and Control in Networked Systems (NecSys)
  21. Mager, Fabian & Baumann, Dominik & Jacob, Romain & Thiele, Lothar & Trimpe, Sebastian & Zimmerling, Marco. (2019). Demo Abstract: Fast Feedback Control and Coordination with Mode Changes for Wireless Cyber-Physical Systems. 18th International Conference on Information Processing in Sensor Networks
  22. Baumann, Dominik & Mager, Fabian & Zimmerling, Marco & Trimpe, Sebastian. (2019). Control-Guided Communication: Efficient Resource Arbitration and Allocation in Multi-Hop Wireless Control Systems. IEEE Control Systems Letters
  23. Mager, Fabian & Baumann, Dominik & Jacob, Romain & Thiele, Lothar & Trimpe, Sebastian & Zimmerling, Marco. (2019). Feedback Control Goes Wireless: Guaranteed Stability over Low-power Multi-hop Networks. 10th ACM/IEEE International Conference on Cyber-Physical Systems
  24. Baumann, Dominik & Solowjow, Friedrich & Johansson, Karl & Trimpe, Sebastian. (2019). Event-triggered Pulse Control with Model Learning (if Necessary). 2019 American Control Conference (ACC)
  25. Trimpe, Sebastian & Baumann, Dominik. (2019). Resource-Aware IoT Control: Saving Communication Through Predictive Triggering. IEEE Internet of Things Journal
  26. Mastrangelo, José & Baumann, Dominik & Trimpe, Sebastian. (2019). Predictive Triggering for Distributed Control of Resource Constrained Multi-agent Systems. IFAC-PapersOnLine
  27. Baumann, Dominik & Mager, Fabian & Wetzker, Ulf & Thiele, Lothar & Zimmerling, Marco & Trimpe, Sebastian. (2020). Wireless Control for Smart Manufacturing: Recent Approaches and Open Challenges. Proceedings of the IEEE
  28. Baumann, Dominik & Marco, Alonso & Turchetta, Matteo & Trimpe, Sebastian. (2021). GoSafe: Globally optimal safe robot learning. IEEE International Conference on Robotics and Automation
  29. Funk, Niklas & Baumann, Dominik & Berenz, Vincent & Trimpe, Sebastian. (2021). Learning event-triggered control from data through joint optimization. IFAC Journal of Systems and Control
  30. Mager, Fabian & Biri, Andreas & Thiele, Lothar & Zimmerling, Marco. (2022). BUTLER: Increasing the Availability of Low-Power Wireless Communication Protocols. International Conference on Embedded Wireless Systems and Networks (EWSN).
  31. Baumann, Dominik & Solowjow, Friedrich & Johansson, Karl Henrik & Trimpe, Sebastian. (2022). Identifying causal structure in dynamical systems. Transactions on Machine Learning Research.
  32. Gräfe, Alexander & Baumann, Dominik & Trimpe, Sebastian. (2022). Towards remote fault detection by analyzing communication priorities. IEEE Conference on Decision and Control (CDC), 2022, accepted, 10.48550/arXiv.2209.15498.
  33. Alexander Gräfe, Joram Eickhoff, Sebastian Trimpe (2022), Event-triggered and distributed model predictive control for guaranteed collision avoidance in UAV swarms. IFAC Conference on Networked Systems (NecSys), IFAC-PapersOnLine
  34. Mager, Fabian & Baumann, Dominik & Herrmann, Carsten & Trimpe, Sebastian & Zimmerling, Marco. (2022). Scaling Beyond Bandwidth Limitations: Wireless Control With Stability Guarantees Under Overload. ACM Transactions on Cyber-Physical Systems