Deciding the number of layers and inter-layer interfaces in LCAs

Determine quantitative principles and tools to decide the appropriate number of layers and to specify the information that should be exchanged between layers in layered control architectures for a given system, specification, and set of constraints.

Background

After deriving a representative three-layer architecture (decision making, trajectory planning, and feedback control), the paper notes that layering can be applied recursively and multiple planning or control layers may be beneficial.

Despite this flexibility, there is currently no quantitative method to select how many layers are warranted or what information each layer should communicate, which the authors identify as a core gap.