Computer Engineering Commons^™

Rate Based Impact Analysis, Nishant Sharma

Department of Computer Science and Engineering: Dissertations, Theses, and Student Research

Impact Analysis (IA) identifies control and data dependencies to determine the system components that could be affected by a change. Changes to robotic systems as they are updated often alter the flow of control and sensor data. Changes to the rates at which data is published from sensors, controllers, and other parts of the system are particularly subtle and difficult to detect. These rate changes, even if minor (e.g. lowering the frame rate of a camera), can propagate throughout the system and have broad impacts. However, for robotic systems, these changes in flow rate cannot be precisely tracked by just …