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In this paper we investigate performance of global communications in a particular parallel code. The code simulates dynamics of expansion of premixed spherical flames using an asymptotic model of Sivashinsky type and a spectral numerical…
Testing and debugging have become major obstacles for robot software development, because of high system complexity and dynamic environments. Standard, middleware-based data recording does not provide sufficient information on internal…
Real time computer control is an essential feature of scanning probe microscopes, which have become essential tools for the characterization and investigation of nanometer scale samples. Most commercial (and some open-source) scanning probe…
The critical path of internode communication on large-scale systems is composed of multiple components. When a supercomputing application initiates the transfer of a message using a high-level communication routine such as an MPI_Send, the…
We consider the problem of maximizing the algebraic connectivity of the communication graph in a network of mobile robots by moving them into appropriate positions. We define the Laplacian of the graph as dependent on the pairwise distance…
In this work, we survey the role of GPUs in real-time systems. Originally designed for parallel graphics workloads, GPUs are now widely used in time-critical applications such as machine learning, autonomous vehicles, and robotics due to…
Machine learning applications are increasingly deployed not only to serve predictions using static models, but also as tightly-integrated components of feedback loops involving dynamic, real-time decision making. These applications pose a…
With the growing adoption of Distributed Ledger Technologies and the subsequent scaling of these networks, there is an inherent need for efficient and resilient communication used by the underlying consensus and replication mechanisms.…
Reliable communication is a fundamental distributed communication abstraction that allows any two nodes of a network to communicate with each other. It is necessary for more powerful communication primitives, such as broadcast and…
This paper presents a research platform that supports spoken dialogue interaction with multiple robots. The demonstration showcases our crafted MultiBot testing scenario in which users can verbally issue search, navigate, and follow…
Minimizing the number of dropped User Datagram Protocol (UDP) messages in a network is regarded as a challenge by researchers. This issue represents serious problems for many protocols particularly those that depend on sending messages as…
Autonomous robots must utilize rich sensory data to make safe control decisions. To process this data, compute-constrained robots often require assistance from remote computation, or the cloud, that runs compute-intensive deep neural…
Google released in 2013 a script-based tool called packetdrill, which allows to test transport protocols like UDP and TCP on Linux and BSD-based operating systems. The scripts defining a test-case allow to inject packets to the…
Overcoming robotics challenges in the real world requires resilient control systems capable of handling a multitude of environments and unforeseen events. Evolutionary optimization using simulations is a promising way to automatically…
In multi-robot systems where a central decision maker is specifying the movement of each individual robot, a communication failure can severely impair the performance of the system. This paper develops a motion strategy that allows robots…
We consider the modeling, stability analysis and controller design problems for discrete-time LTI systems with state feedback, when the actuation signal is subject to switching propagation delays, due to e.g. the routing in a multi-hop…
The rapid development in computing technology has paved the way for directive-based programming models towards a principal role in maintaining software portability of performance-critical applications. Efforts on such models involve a least…
The cost of data movement on parallel systems varies greatly with machine architecture, job partition, and nearby jobs. Performance models that accurately capture the cost of data movement provide a tool for analysis, allowing for…
In the future 6th generation networks, ultra-reliable and low-latency communications (URLLC) will lay the foundation for emerging mission-critical applications that have stringent requirements on end-to-end delay and reliability. Existing…
Designing distributed, fast and reliable wireless consensus protocols is instrumental in enabling mission-critical decentralized systems, such as robotic networks in the industrial Internet of Things (IIoT), drone swarms in rescue missions,…