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This paper presents the design, development, and application of a novel space simulation environment for rapidly prototyping and testing flight software for distributed space systems. The environment combines the flexibility, determinism,…
Motion planning methods like navigation functions and harmonic potential fields provide (almost) global convergence and are suitable for obstacle avoidance in dynamically changing environments due to their reactive nature. A common…
Visual Simultaneous Localization and Mapping (VSLAM) research faces significant challenges due to fragmented toolchains, complex system configurations, and inconsistent evaluation methodologies. To address these issues, we present…
Predicting the performance of highly configurable software systems is the foundation for performance testing and quality assurance. To that end, recent work has been relying on machine/deep learning to model software performance. However, a…
As robots are expected to perform increasingly diverse tasks, they must understand not only low-level actions but also the higher-level structure that determines how a task should unfold. Existing vision-language-action (VLA) models…
The next generation of AI applications will continuously interact with the environment and learn from these interactions. These applications impose new and demanding systems requirements, both in terms of performance and flexibility. In…
Decentralized cooperative pursuit in cluttered environments is challenging for autonomous aerial swarms, especially under partial and noisy perception. Existing methods often rely on abstracted geometric features or privileged ground-truth…
Implementing a component-based system in a distributed way so that it ensures some global constraints is a challenging problem. We consider here abstract specifications consisting of a composition of components and a controller given in the…
This paper deals with the problem of distributed control synthesis. We seek to find structured controllers that are stably realizable over the underlying network. We address the problem using an operator form of discrete-time linear…
TLA+ is a formal language for specifying systems, including distributed algorithms, that is supported by powerful verification tools. In this work we present a framework for relating traces of distributed programs to high-level…
Reinforcement learning (RL) is a promising field to enhance robotic autonomy and decision making capabilities for space robotics, something which is challenging with traditional techniques due to stochasticity and uncertainty within the…
Simulation has become the evaluation method of choice for many areas of distributing computing research. However, most existing simulation packages have several limitations on the size and complexity of the system being modeled. Fine…
Discrete EVent Specification (DEVS) environments are known to be implemented over middleware systems such as HLA, RMI, CORBA and others. DEVS exhibits concepts of systems theory and modeling and supports capturing the system behavior from…
Programming models for building large-scale distributed applications assist the developer in reasoning about consistency and distribution. However, many of the programming models for weak consistency, which promise the largest scalability…
This paper presents a prototyping framework for distributed control of multi-robot systems, aimed at bridging theory and practical testing of distributed optimization algorithms. Using the Single Program, Multiple Data (SPMD) paradigm, the…
We propose TOPL automata as a new method for runtime verification of systems with unbounded resource generation. Paradigmatic such systems are object-oriented programs which can dynamically generate an unbounded number of fresh object…
Inspired by distributed applications that use consensus or other agreement protocols for global coordination, we define a new computational model for parameterized systems that is based on a general global synchronization primitive and…
In a world demanding the best performance from financial investments, distributed applications occupy the first place among the proposed solutions. This particularity is due to their distributed architecture which is able to acheives high…
Software engineering practices for validating autonomous cyber-physical systems (e.g., Uncrewed Aerial Vehicles) remain fragmented across scenario design, simulation execution, and telemetry analysis, limiting traceability between…
Empirical natural language processing (NLP) systems in application domains (e.g., healthcare, finance, education) involve interoperation among multiple components, ranging from data ingestion, human annotation, to text retrieval, analysis,…