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Real-time control systems often require dedicated hardware and software, including real-time operating systems, while many systems are available for off-line computing, mainly based on standard system units (PCs), standard network…
Networked control systems are closed-loop feedback control systems containing system components that may be distributed geographically in different locations and interconnected via a communication network such as the Internet. The quality…
Connectivity maintenance is crucial for the real world deployment of multi-robot systems, as it ultimately allows the robots to communicate, coordinate and perform tasks in a collaborative way. A connectivity maintenance controller must…
Trajectory replanning is a critical problem for multi-robot teams navigating dynamic environments. We present RLSS (Replanning using Linear Spatial Separations): a real-time trajectory replanning algorithm for cooperative multi-robot teams…
The performance of a parallel algorithm in a very large scale grid is significantly influenced by the underlying Internet protocols and inter-connectivity. Many grid programming platforms use TCP due to its reliability, usually with some…
In this paper, we study the problem of latency and reliability trade-off in ultra-reliable low-latency communication (URLLC) in the presence of decoding complexity constraints. We consider linear block encoded codewords transmitted over a…
The stability and the predictability of a computer network algorithm's performance are as important as the main functional purpose of networking software. However, asserting or deriving such properties from the finite state machine…
Time awareness is critical to a broad range of emerging applications -- in Cyber-Physical Systems and Internet of Things -- running on commodity platforms and operating systems. Traditionally, time is synchronized across devices through a…
Distributed optimization finds applications in large-scale machine learning, data processing and classification over multi-agent networks. In real-world scenarios, the communication network of agents may encounter latency that may affect…
Soft real-time applications require timely delivery of messages conforming to the soft real-time constraints. Satisfying such requirements is a complex task both due to the volatile nature of distributed environments, as well as due to…
We consider a team of heterogeneous robots which are deployed within a common workspace to gather different types of data. The robots have different roles due to different capabilities: some gather data from the workspace (source robots)…
Contemporary distributed computing workloads, including scientific computation, data mining, and machine learning, increasingly demand OS networking with minimal latency as well as high throughput, security, and reliability. However,…
The increasing use of middleboxes (e.g., NATs, firewalls) in the Internet has made it harder and harder to deploy new transport or higher layer protocols, or even extensions to existing ones. Current work to address this Internet transport…
Networked control applications for cyber-physical networks demand predictable and reliable real-time communication. Applications of this domain have to cooperate with network protocols, the operating system, and the hardware to improve…
Cyber-physical systems (CPS) integrate sensing, computing, communication and actuation capabilities to monitor and control operations in the physical environment. A key requirement of such systems is the need to provide predictable…
Safe operation of multi-robot systems is critical, especially in communication-degraded environments such as underwater for seabed mapping, underground caves for navigation, and in extraterrestrial missions for assembly and construction. We…
Scalable multi-robot transition is essential for ubiquitous adoption of robots. As a step towards it, a computationally efficient decentralized algorithm for continuous-time trajectory optimization in multi-robot scenarios based upon model…
Real-time scheduling and locking protocols are fundamental facilities to construct time-critical systems. For parallel real-time tasks, predictable locking protocols are required when concurrent sub-jobs mutually exclusive access to shared…
Traditionally, distributed and parallel transactional systems have been studied in isolation, as they targeted different applications and experienced different bottlenecks. However, modern high-bandwidth networks have made the study of…
Autonomous driving is usually recognized as a promising technology to replace human drivers in the near future. To guarantee the safety performance in the daily life scenario, multiple-car intelligence with high quality inter-vehicle…