This repository is the official implementation of the paper "Resource-aware IoT control: Saving comunication through predictive triggering" by Sebastian Trimpe and Dominik Baumann, published in the IEEE Internet of Things Journal.

The code was developed using Python 3.6 and also tested with Python 3.4. The following libraries are required:

• numpy with numpy.matlib
• scipy
• matplotlib
• control
• copy

The code implements the simulation example discussed in Sec. IX of the paper. It consists of a bunch of vehicles platooning with a desired inter-vehicle distance and velocity. All vehicles can only measure their own absolute positions and, thus, need to communicate with the other vehicles to maintain the desired inter-vehicle distance. The decision when to communicate is taken by either the predictive or the self trigger.

To execute the code, run the command

python single_experiment.py

to start a single simulation,

python run_braking_experiment

for a single simulation in which the first vehicle in the platoon starts to brake after 10s (the seed is set such that the results from the paper can be recreated), and

python trigger_comparison.py

to start a Monte Carlo simulation comparing predictive and self triggering for different communication thresholds.