A cyber-physical system (CPS) is composed of tightly-integrated computation,\ncommunication and physical elements. Medical devices, buildings, mobile devices, robots,\ntransportation and energy systems can benefit from CPS co-design and optimization\ntechniques. Cyber-physical vehicle systems (CPVSs) are rapidly advancing due to\nprogress in real-time computing, control and artificial intelligence. Multidisciplinary or\nmulti-objective design optimization maximizes CPS efficiency, capability and safety, while\nonline regulation enables the vehicle to be responsive to disturbances, modeling errors and\nuncertainties. CPVS optimization occurs at design-time and at run-time. This paper surveys\nthe run-time cooperative optimization or co-optimization of cyber and physical systems,\nwhich have historically been considered separately. A run-time CPVS is also cooperatively\nregulated or co-regulated when cyber and physical resources are utilized in a manner that is\nresponsive to both cyber and physical system requirements. This paper surveys research that\nconsiders both cyber and physical resources in co-optimization and co-regulation schemes\nwith applications to mobile robotic and vehicle systems. Time-varying sampling patterns,\nsensor scheduling, anytime control, feedback scheduling, task and motion planning and\nresource sharing are examined.
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