Related papers: Distributed Task Management in Cyber-Physical Syst…
Any strategy used to distribute a robot ensemble over a set of sequential tasks is subject to inaccuracy due to robot-level uncertainties and environmental influences on the robots' behavior. We approach the problem of inaccuracy during…
Fast and reliable state estimation and tracking are essential for real-time situation awareness in Cyber-Physical Systems (CPS) operating in tactical environments or complicated civilian environments. Traditional centralized solutions do…
Distributed computing often gives rise to complex concurrent and interacting activities. In some cases several concurrent activities may be working together, i.e. cooperating, to solve a given problem; in other cases, the activities may be…
In this work, we consider a computational model of a distributed system formed by a set of servers in which jobs, that are continuously arriving, have to be executed. Every job is formed by a set of dependent tasks (i.~e., each task may…
We propose novel techniques for task allocation and planning in multi-robot systems operating in uncertain environments. Task allocation is performed simultaneously with planning, which provides more detailed information about individual…
In this paper we analyze the problem of optimal task scheduling for data centers. Given the available resources and tasks, we propose a fast distributed iterative algorithm which operates over a large scale network of nodes and allows each…
Internet supercomputing is an approach to solving partitionable, computation-intensive problems by harnessing the power of a vast number of interconnected computers. For the problem of using network supercomputing to perform a large…
Coordination is a desirable feature in multi-agent systems, allowing the execution of tasks that would be impossible by individual agents. We study coordination by a team of strategic agents choosing to undertake one of the multiple tasks.…
Cyber-Physical Systems (CPS) operate in dynamic environments, leading to different types of uncertainty. This work provides a comprehensive review of uncertainty representations and categorizes them based on the dimensions used to represent…
We study the expected completion time of some recently proposed algorithms for distributed computing which redundantly assign computing tasks to multiple machines in order to tolerate a certain number of machine failures. We analytically…
Tackling complex team problems requires understanding each team member's skills in order to devise a task assignment maximizing the team performance. This paper proposes a novel quantitative model describing the decentralized process by…
The Coalition Formation with Spatial and Temporal constraints Problem (CFSTP) is a multi-agent task allocation problem in which few agents have to perform many tasks, each with its deadline and workload. To maximize the number of completed…
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…
In this paper, we consider a wireless resource allocation problem in a cyber-physical system (CPS) where the control channel, carrying resource allocation commands, is subjected to denial-of-service (DoS) attacks. We propose a novel concept…
This paper studies the problem of distributed optimal coordination (DOC) for a class of nonlinear large-scale cyber-physical systems (CPSs) in the presence of cyber attacks. A secure DOC architecture with attack diagnosis is proposed that…
We study distributed planning for multi-robot systems to provide optimal service to cooperative tasks that are distributed over space and time. Each task requires service by sufficiently many robots at the specified location within the…
Resource allocation under uncertainty is a classical problem in city-scale cyber-physical systems. Consider emergency response as an example; urban planners and first responders optimize the location of ambulances to minimize expected…
Task allocation is a key combinatorial optimization problem, crucial for modern applications such as multi-robot cooperation and resource scheduling. Decision makers must allocate entities to tasks reasonably across different scenarios.…
We study a single task allocation problem where each worker connects to some other workers to form a network and the task requester only connects to some of the workers. The goal is to design an allocation mechanism such that each worker is…
We propose a multi-agent system that enables groups of agents to collaborate and work autonomously to execute tasks. Groups can work in a decentralized manner and can adapt to dynamic changes in the environment. Groups of agents solve…