Related papers: Improving the Parallel Execution of Behavior Trees
Parallel programming remains a daunting challenge, from the struggle to express a parallel algorithm without cluttering the underlying synchronous logic, to describing which devices to employ in a calculation, to correctness. Over the…
This paper proposes an efficient framework to execute Smart Contract Transactions (SCTs) concurrently based on object semantics, using optimistic Single-Version Object-based Software Transactional Memory Systems (SVOSTMs) and Multi-Version…
We study the computational complexity of the recently proposed nubot model of molecular-scale self-assembly. The model generalises asynchronous cellular automata to have non-local movement where large assemblies of molecules can be pushed…
Behavior trees represent a modular way to create an overall controller from a set of sub-controllers solving different sub-problems. These sub-controllers can be created in different ways, such as classical model based control or…
Constraint Handling Rules (CHR) is a declarative rule-based formalism and language. Concurrency is inherent as rules can be applied to subsets of constraints in parallel. Parallel implementations of CHR, be it in software, be it in…
CCS can be considered as a most natural extension of finite state automata in which interaction is made possible thanks to parallel composition. We propose here a similar extension for top-down tree automata. We introduce a parallel…
Complex aircraft systems are becoming a target for automation. For successful operation, they require both efficient and readable mission execution system. Flight control computer (FCC) units, as well as all important subsystems, are often…
Parallel execution of smart contract transactions in large multicore architectures is critical for higher efficiency and improved throughput. The main bottleneck for maximizing the throughput of a node through parallel execution is…
Traces and their extension called combined traces (comtraces) are two formal models used in the analysis and verification of concurrent systems. Both models are based on concepts originating in the theory of formal languages, and they are…
We develop and implement a parallel flatPERM algorithm \cite{G97,PK04} with mutually interacting parallel flatPERM sequences and use it to sample self-avoiding walks in 2 and 3 dimensions. Our data show that the parallel implementation…
Fixed point combinators (and their generalization: looping combinators) are classic notions belonging to the heart of lambda-calculus and logic. We start with an exploration of the structure of fixed point combinators (fpc's), vastly…
The ordered set is one of the most important data type in both theoretical algorithm design and analysis and practical programming. In this paper we study the set operations on two ordered sets, including Union, Intersect and Difference,…
This document presents the full implementation details of BT-trees, a highly efficient ordered map, and an evaluation which compares BT-trees with unordered maps. BT- trees are often much faster than other ordered maps, and have comparable…
As the complexity and scale of modern parallel machines continue to grow, programmers increasingly rely on composition of software libraries to encapsulate and exploit parallelism. However, many libraries are not designed with composition…
Standard approaches to decision-making under uncertainty focus on sequential exploration of the space of decisions. However, \textit{simultaneously} proposing a batch of decisions, which leverages available resources for parallel…
We present methods for repairing traces against specifications given as temporal behavior trees (TBT). TBT are a specification formalism for action sequences in robotics and cyber-physical systems, where specifications of sub-behaviors,…
This paper presents an innovative exploration of the application potential of large language models (LLM) in addressing the challenging task of automatically generating behavior trees (BTs) for complex tasks. The conventional manual BT…
We present Atos, a task-parallel GPU dynamic scheduling framework that is especially suited to dynamic irregular applications. Compared to the dominant Bulk Synchronous Parallel (BSP) frameworks, Atos exposes additional concurrency by…
In robotics, structural design and behavior optimization have long been considered separate processes, resulting in the development of systems with limited capabilities. Recently, co-design methods have gained popularity, where bi-level…
This paper presents a batch-parallel 2-3 tree T in an asynchronous dynamic multithreading model that supports searches, insertions and deletions in sorted batches and has essentially optimal parallelism, even under the restrictive QRMW…