Related papers: Remote Control: A Simple Deadlock Avoidance Scheme…

We present a method for deadlock-free and collision-free navigation in a multi-robot system with nonholonomic robots. The problem is solved by quadratic programming and is applicable to most wheeled mobile robots with linear kinematic…

This paper proposes a Robust Safe Control Architecture (RSCA) for safe-decision making. The system to be controlled is a vehicle in the presence of bounded disturbances. The RSCA consists of two parts: a Supervisor MPC and a Controller MPC.…

Management of communication by on-line routing in new FPGAs with a large amount of logic resources and partial reconfigurability is a new challenging problem. A Network-on-Chip (NoC) typically uses packet routing mechanism, which has often…

Distributed deep neural network training necessitates efficient GPU collective communications, which are inherently susceptible to deadlocks. GPU collective deadlocks arise easily in distributed deep learning applications when multiple…

This paper proposes a real-time model predictive control (MPC) scheme to execute multiple tasks using robots over a finite-time horizon. In industrial robotic applications, we must carefully consider multiple constraints for avoiding joint…

Collaborative edge computing (CEC) is an emerging paradigm where heterogeneous edge devices collaborate to fulfill computation tasks, such as model training or video processing, by sharing communication and computation resources.…

Efficient routing of mobile robot fleets is crucial in intralogistics, where delays and deadlocks can substantially reduce system throughput. Roadmap design, specifying feasible transport routes, directly affects fleet coordination and…

This dissertation is a study on the design and analysis of novel, optimal routing and rate control algorithms in wireless, mobile communication networks. Congestion control and routing algorithms upto now have been designed and optimized…

Transport layer congestion control relies on feedback signals that travel from the congested link to the receiver and back to the sender. This forward congestion control loop, first, requires at least one rount-trip time (RTT) to react to…

With the increasing scale of communication networks, the likelihood of failures grows as well. Since these networks form a critical backbone of our digital society, it is important that they rely on robust routing algorithms which ensure…

This work is devoted to the study of communication subsystem of networks-onchip (NoCs) development with an emphasis on their topologies. The main characteristics of NoC topologies and the routing problem in NoCs with various topologies are…

Data race conditions in multi-tasking software applications are prevented by serializing access to shared memory resources, ensuring data consistency and deterministic behavior. Traditionally tasks acquire and release locks to synchronize…

This paper presents SHARP (Supercomputing for High-speed Avoidance and Reactive Planning), a proof-of-concept study demonstrating how high-performance computing (HPC) can enable millisecond-scale responsiveness in robotic control. While…

The Dragonfly topology is currently one of the most popular network topologies in high-performance parallel systems. The interconnection networks of many of these systems are built from components based on the InfiniBand specification.…

Robust transceiver design against unresolvable system uncertainties is of crucial importance for reliable communication. For instance, full-duplex communication suffers from such uncertainties when canceling the self-interference, since…

The implementation of optimization-based motion coordination approaches in real world multi-agent systems remains challenging due to their high computational complexity and potential deadlocks. This paper presents a distributed model…

According to the well-known loop shaping method for the design of controllers, the performance of the controllers in terms of step response, steady-state disturbance rejection and noise attenuation and robustness can be improved by…

Modular trapped-ion quantum computing hardware, known as QCCDs require shuttling operations in order to maintain effective all-to-all connectivity. Each module or trap can perform only one operation at a time, resulting in low intra-trap…

This paper proposes a comprehensive hierarchical control framework for autonomous decision-making arising in robotics and autonomous systems. In a typical hierarchical control architecture, high-level decision making is often characterised…

Network-on-Chip (NoC) has become a popular choice for connecting a large number of processing cores in chip multiprocessor design. In a conventional NoC design, most of the area in the router is occupied by the buffers and the crossbar…