@conference {QFGPB-ETFA09,
	title = {Designing Real-Time Embedded Controllers using the Anytime Computing Paradigm},
	booktitle = {IEEE International Conference on Emerging Technology and Factory Automation},
	year = {2009},
	month = {September, 12 - },
	pages = {1 - 8},
	address = {Palma de Mallorca, Spain},
	abstract = {<p>In this paper we present a methodology for designing embedded controllers with a variable accuracy. The adopted paradigm is the so called any-time control, which derives from the computing paradigm known as "imprecise computation". The most relevant contributions of the paper are a procedure for designing an incremental control law, whose different pieces cater for increasingly aggressive control requirements, and a modelling technique for the execution platform that allows us to design provably correct switching policies for the controllers. The methodology is validated by both simulations and experimental results.</p>
},
	keywords = {Embedded Control, Robotics},
	doi = {10.1109/ETFA.2009.5347086},
	author = {A. Quagli and D. Fontanelli and L. Greco and L. Palopoli and A. Bicchi}
}
