论文标题
无线边缘工业系统中的通信控制共同设计
Communication-Control Co-design in Wireless Edge Industrial Systems
论文作者
论文摘要
我们考虑在工厂环境中控制一系列工业系统（例如工业机器人）的问题，该系统通过共享的无线通道利用边缘计算功能。无线控制系统模型支持将计算密集型功能（例如感知工作负载）卸载到边缘服务器。但是，无线通信容易出现数据包丢失和延迟，并且如果链接保持不够可靠，可能会导致不稳定或任务故障。由于始终保持高可靠性和较低的延迟禁止由于资源限制而引起的可扩展性，因此我们提出了一个通信控制共同设计范式，该范式将服务质量（QoS）变化，并对每种工厂的动态需求产生控制动作。我们进一步提出了一个模块化学习框架，以解决复杂的学习任务，而无需在一系列学习步骤中了解植物或交流模型，并在机器人传送带任务中证明其在学习资源有效的共同设计政策方面的有效性。
We consider the problem of controlling a series of industrial systems, such as industrial robotics, in a factory environment over a shared wireless channel leveraging edge computing capabilities. The wireless control system model supports the offloading of computational intensive functions, such as perception workloads, to an edge server. However, wireless communications is prone to packet loss and latency and can lead to instability or task failure if the link is not kept sufficiently reliable. Because maintaining high reliability and low latency at all times prohibits scalability due to resource limitations, we propose a communication-control co-design paradigm that varies the network quality of service (QoS) and resulting control actions to the dynamic needs of each plant. We further propose a modular learning framework to solve the complex learning task without knowledge of plant or communication models in a series of learning steps and demonstrate its effectiveness in learning resource-efficient co-design policies in a robotic conveyor belt task.
