000126749 001__ 126749 000126749 005__ 20240731103324.0 000126749 0247_ $$2doi$$a10.1016/j.automatica.2023.111123 000126749 0248_ $$2sideral$$a134121 000126749 037__ $$aART-2023-134121 000126749 041__ $$aeng 000126749 100__ $$aAldana-López, Rodrigo$$uUniversidad de Zaragoza 000126749 245__ $$aLatency vs precision: Stability preserving perception scheduling 000126749 260__ $$c2023 000126749 5060_ $$aAccess copy available to the general public$$fUnrestricted 000126749 5203_ $$aIn robotic systems, perception latency is a term that refers to the computing time measured from the data acquisition to the moment in which perception output is ready to be used to compute control commands. There is a compromise between perception latency, precision for the overall robotic system, and computational resource usage referred to here as the latency-precision trade-off. In this work, we analyze a robot model given by a linear system, a zero-order hold controller, and measurements taken by several perception mode possibilities with different noise levels. We show that the analysis of this system is reduced to studying an equivalent switching system. Our goal is to schedule perception modes such that stability is attained while optimizing a cost function that models the latency-precision trade-off. Our solution framework comprises three main tools: the construction of perception scheduling policy candidates, admissibility verification for policy candidates, and optimal strategies based on admissible policies. 000126749 536__ $$9info:eu-repo/grantAgreement/ES/MICINN-AEI-FEDER/PID2021-124137OB-I00$$9info:eu-repo/grantAgreement/ES/DGA/T45-23R$$9info:eu-repo/grantAgreement/EUR/AEI/TED2021-130224B-I00 000126749 540__ $$9info:eu-repo/semantics/openAccess$$aby-nc-nd$$uhttp://creativecommons.org/licenses/by-nc-nd/3.0/es/ 000126749 590__ $$a4.8$$b2023 000126749 592__ $$a3.502$$b2023 000126749 591__ $$aENGINEERING, ELECTRICAL & ELECTRONIC$$b70 / 352 = 0.199$$c2023$$dQ1$$eT1 000126749 593__ $$aElectrical and Electronic Engineering$$c2023$$dQ1 000126749 591__ $$aAUTOMATION & CONTROL SYSTEMS$$b20 / 84 = 0.238$$c2023$$dQ1$$eT1 000126749 593__ $$aControl and Systems Engineering$$c2023$$dQ1 000126749 594__ $$a10.7$$b2023 000126749 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/publishedVersion 000126749 700__ $$0(orcid)0000-0001-9458-6257$$aAragüés, Rosario$$uUniversidad de Zaragoza 000126749 700__ $$0(orcid)0000-0002-3032-954X$$aSagüés, Carlos$$uUniversidad de Zaragoza 000126749 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát. 000126749 773__ $$g155 (2023), 111123 [13 pp.]$$pAutomatica$$tAUTOMATICA$$x0005-1098 000126749 8564_ $$s1034592$$uhttps://zaguan.unizar.es/record/126749/files/texto_completo.pdf$$yVersión publicada 000126749 8564_ $$s3102513$$uhttps://zaguan.unizar.es/record/126749/files/texto_completo.jpg?subformat=icon$$xicon$$yVersión publicada 000126749 909CO $$ooai:zaguan.unizar.es:126749$$particulos$$pdriver 000126749 951__ $$a2024-07-31-09:44:09 000126749 980__ $$aARTICLE