126749 20260212204406.0 doi 10.1016/j.automatica.2023.111123 sideral 134121 ART-2023-134121 eng Aldana-López, Rodrigo Universidad de Zaragoza (orcid)0000-0001-6939-6523 Latency vs precision: Stability preserving perception scheduling 2023 Access copy available to the general public Unrestricted In 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. info:eu-repo/grantAgreement/EUR/AEI/TED2021-130224B-I00 info:eu-repo/grantAgreement/ES/DGA/T45-23R info:eu-repo/grantAgreement/ES/MICINN-AEI-FEDER/PID2021-124137OB-I00 info:eu-repo/semantics/openAccess by-nc-nd https://creativecommons.org/licenses/by-nc-nd/4.0/deed.es 4.8 2023 ENGINEERING, ELECTRICAL & ELECTRONIC 70 / 353 = 0.198 2023 Q1 T1 AUTOMATION & CONTROL SYSTEMS 20 / 84 = 0.238 2023 Q1 T1 3.502 2023 Electrical and Electronic Engineering 2023 Q1 Control and Systems Engineering 2023 Q1 10.7 2023 info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion Aragüés, Rosario Universidad de Zaragoza (orcid)0000-0001-9458-6257 Sagüés, Carlos Universidad de Zaragoza (orcid)0000-0002-3032-954X 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 155 (2023), 111123 [13 pp.] Automatica AUTOMATICA 0005-1098 1034592 http://zaguan.unizar.es/record/126749/files/texto_completo.pdf Versión publicada 3102513 http://zaguan.unizar.es/record/126749/files/texto_completo.jpg?subformat=icon icon Versión publicada oai:zaguan.unizar.es:126749 articulos driver 2026-02-12-20:41:30 ARTICLE