Related papers: A coordination-free, convergent, and safe replicat…
This paper addresses the distributed consensus protocol design problem for linear multi-agent systems with directed graphs and external unmatched disturbances. A novel distributed adaptive consensus protocol is proposed to achieve…
Conflict-free Replicated Data Types (CRDTs) allow optimistic replication in a principled way. Different replicas can proceed independently, being available even under network partitions, and always converging deterministically: replicas…
Dynamic Connectivity is a fundamental algorithmic graph problem, motivated by a wide range of applications to social and communication networks and used as a building block in various other algorithms, such as the bi-connectivity and the…
In a variety of applications, we need to keep track of the development of a data set over time. For maintaining and querying this multi version data I/O-efficiently, external memory data structures are required. In this paper, we present a…
Most real-world data are scattered across different companies or government organizations, and cannot be easily integrated under data privacy and related regulations such as the European Union's General Data Protection Regulation (GDPR) and…
Complex manipulation tasks, such as rearrangement planning of numerous objects, are combinatorially hard problems. Existing algorithms either do not scale well or assume a great deal of prior knowledge about the environment, and few offer…
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…
Building a library of concurrent data structures is an essential way to simplify the difficult task of developing concurrent software. Lock-free data structures, in which processes can help one another to complete operations, offer the…
This paper addresses the concurrency issues affecting Behavior Trees (BTs), a popular tool to model the behaviors of autonomous agents in the video game and the robotics industry. BT designers can easily build complex behaviors composing…
Trustworthy Artificial Intelligence solutions are essential in today's data-driven applications, prioritizing principles such as robustness, safety, transparency, explainability, and privacy among others. This has led to the emergence of…
In this paper, we consider coordinated movement of a network of vehicles consisting of a bounded number of malicious agents, that is, vehicles must reach consensus in longitudinal position and a common predefined velocity. The motions of…
In this paper, we investigate adaptive nonlinear regression and introduce tree based piecewise linear regression algorithms that are highly efficient and provide significantly improved performance with guaranteed upper bounds in an…
In this paper, we consider a distributed model predictive control (MPC) algorithm for coordinated path-following. Relying on the time-critical cooperative path-following framework, which decouples space and time and reduces the coordination…
With distributed computing and mobile applications becoming ever more prevalent, synchronizing diverging replicas of the same data is a common problem. Reconciliation -- bringing two replicas of the same data structure as close as possible…
Innovative shared mobility services provide on-demand flexible mobility options and have the potential to alleviate traffic congestion. These attractive services are challenging from different perspectives. One major challenge in such…
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…
During the past decades significant efforts have been made to propose data structures for answering connectivity queries on fully dynamic graphs, i.e., graphs with frequent insertions and deletions of edges. However, a comprehensive…
Establishing the correspondences between newly acquired points and historically accumulated data (i.e., map) through nearest neighbors search is crucial in numerous robotic applications. However, static tree data structures are inadequate…
This paper presents a robust distributed coordination protocol that achieves generation of collision-free trajectories for multiple unicycle agents in the presence of stochastic uncertainties. We build upon our earlier work on…
Data replication is crucial in modern distributed systems as a means to provide high availability. Many techniques have been proposed to utilize replicas to improve a system's performance, often requiring expensive coordination or…