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.

翻译：在机器人系统中，感知延迟是指从数据采集到感知输出可用于计算控制指令的这段时间。感知延迟、整个机器人系统的精度与计算资源使用之间存在折衷，本文称之为延迟-精度权衡。本研究分析了一个由线性系统、零阶保持控制器及多种具有不同噪声水平的感知模式构成的机器人模型，并证明该系统的分析可简化为对等效切换系统的研究。我们的目标是在实现稳定性的前提下调度感知模式，同时优化一个建模延迟-精度权衡的成本函数。提出的解决方案框架包含三大工具：构建感知调度策略候选集、策略候选的可行性验证，以及基于可行策略的最优方案。