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Safra's distributed termination detection algorithm employs a logical token ring structure within a distributed network; only passive nodes forward the token, and a counter in the token keeps track of the number of sent minus the number of…
Multi-robot coordination is crucial for autonomous systems, yet real-world deployments often encounter various failures. These include both temporary and permanent disruptions in sensing and communication, which can significantly degrade…
Autonomous vehicles often perceive the environment by feeding sensor data to a learned detector algorithm, then feeding detections to a multi-object tracker that models object motions over time. Probabilistic models of multi-object trackers…
Vector clock algorithms are basic wait-free building blocks that facilitate causal ordering of events. As wait-free algorithms, they are guaranteed to complete their operations within a finite number of steps. Stabilizing algorithms allow…
Consider a system of autonomous mobile robots initially randomly deployed on the nodes of an anonymous finite grid. A gathering algorithm is a sequence of moves to be executed independently by each robot so that all robots meet at a single…
In asynchronous distributed systems it is very hard to assess if one of the processes taking part in a computation is operating correctly or has failed. To overcome this problem, distributed algorithms are created using unreliable failure…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
A model of an evolving network of interacting molecular species is shown to exhibit repeated rounds of crashes in which several species get rapidly depopulated, followed by recoveries. The network inevitably self-organizes into an…
With the increasing number of compute components, failures in future exa-scale computer systems are expected to become more frequent. This motivates the study of novel resilience techniques. Here, we extend a recently proposed…
The FLP result shows that crash-tolerant consensus is impossible to solve in asynchronous systems, and several solutions have been proposed for crash-tolerant consensus under alternative (stronger) models. One popular approach is to augment…
Industrial prognostics focuses on utilizing degradation signals to forecast and continually update the residual useful life of complex engineering systems. However, existing prognostic models for systems with multiple failure modes face…
We study the problem of distributed traffic control in the partitioned plane, where the movement of all entities (robots, vehicles, etc.) within each partition (cell) is coupled. Establishing liveness in such systems is challenging, but…
Partial synchrony is a model of computation in many distributed algorithms and modern blockchains. These algorithms are typically parameterized in the number of participants, and their correctness requires the existence of bounds on message…
This paper proposes a finitely terminating algorithm to solve reach-and-stay control problems for nonlinear systems. The algorithm is guaranteed to return a control strategy if the specification is robustly realizable. Such a feature is…
Single fault sequential change point problems have become important in modeling for various phenomena in large distributed systems, such as sensor networks. But such systems in many situations present multiple interacting faults. For…
We introduce a sequential learning algorithm to address a robust controller tuning problem, which in effect, finds (with high probability) a candidate solution satisfying the internal performance constraint to a chance-constrained program…
When facing time-variant problems in analog computing, the desirable RNN design requires finite-time convergence and robustness with respect to various types of uncertainties, due to the time-variant nature and difficulties in…
On the one hand, there has been considerable progress on neural network verification in recent years, which makes certifying neural networks a possibility. On the other hand, neural networks in practice are often re-trained over time to…
In distributed model predictive control (DMPC), where a centralized optimization problem is solved in distributed fashion using dual decomposition, it is important to keep the number of iterations in the solution algorithm, i.e. the amount…
Simulating a shared register can mask the intricacies of designing algorithms for asynchronous message-passing systems subject to crash failures, since it allows them to run algorithms designed for the simpler shared-memory model. Typically…