Related papers: Seamless Paxos Coordinators
We propose a new iterative procedure to optimize the restart for meta-heuristic algorithms to solve combinatorial optimization, which uses independent algorithm executions. The new procedure consists of either adding new executions or…
Complex manipulation tasks, such as rearrangement planning of numerous objects, are combinatorially hard problems. Existing algorithms either do not scale well or assume a great deal of prior knowledge about the environment, and few offer…
This paper studies distributed online convex optimization with time-varying coupled constraints, motivated by distributed online control in network systems. Most prior work assumes a separability condition: the global objective and coupled…
A critical limitation in large-scale multi-agent systems is the cascading of errors. And without intermediate verification, downstream agents exacerbate upstream inaccuracies, resulting in significant quality degradation. To bridge this…
Collaborative working is increasingly popular, but it presents challenges due to the need for high responsiveness and disconnected work support. To address these challenges the data is optimistically replicated at the edges of the network,…
This paper deals with Networked Control Systems (NCSs) whose shared networks have limited communication capacity and are prone to data losses. We assume that among (N) plants, only (M < N) plants can communicate with their controllers at…
In this work and the supporting Parts II [2] and III [3], we provide a rather detailed analysis of the stability and performance of asynchronous strategies for solving distributed optimization and adaptation problems over networks. We…
Distributed consensus has been widely studied for sensor network applications. Whereas the asymptotic convergence rate has been extensively explored in prior work, other important and practical issues, including energy efficiency and link…
Designing provably safe control is a core problem in trustworthy autonomy. However, most prior work in this regard assumes either that the system dynamics are known or deterministic, or that the state and action space are finite,…
The pairwise reachability problem for a multi-threaded program asks, given control locations in two threads, whether they can be simultaneously reached in an execution of the program. The problem is important for static analysis and is used…
In this paper we address the problem of designing an interruptible system in a setting in which $n$ problem instances, all equally important, must be solved concurrently. The system involves scheduling executions of contract algorithms…
We investigate the stability problem for discrete-time stochastic switched linear systems under the specific scenarios where information about the switching patterns and the probability of switches are not available. Our analysis focuses on…
Intermittent faults are transient errors that sporadically appear and disappear. Although intermittent faults pose substantial challenges to reliability and coordination, existing studies of fault tolerance in robot swarms focus instead on…
This paper presents a novel algorithm for solving distribution steering problems featuring nonlinear dynamics and chance constraints. Covariance steering (CS) is an emerging methodology in stochastic optimal control that poses constraints…
Clock synchronization is a widely discussed topic in the engineering literature. Ensuring that individual clocks are closely aligned is important in network systems, since the correct timing of various events in a network is usually…
We study the scalability of consensus-based distributed optimization algorithms by considering two questions: How many processors should we use for a given problem, and how often should they communicate when communication is not free?…
Consus is a strictly serializable geo-replicated transactional key-value store. The key contribution of Consus is a new commit protocol that reduces the cost of executing a transaction to three wide area message delays in the common case.…
In this paper, we challenge the conventional approach of state machine replication systems to design deterministic agreement protocols in the eventually synchronous communication model. We first prove that no such protocol can guarantee…
Consensus of autonomous agents is a benchmark problem in cooperative control. In this paper, we consider standard continuous-time averaging consensus policies (or Laplacian flows) over time-varying graphs and focus on robustness of…
For effective multi-agent trajectory planning, it is important to consider lightweight communication and its potential asynchrony. This paper presents a distributed trajectory planning algorithm for a quadrotor swarm that operates…