Related papers: A coordination-free, convergent, and safe replicat…
The distributed dual ascent is an established algorithm to solve strongly convex multi-agent optimization problems with separable cost functions, in the presence of coupling constraints. In this paper, we study its asynchronous counterpart.…
Replication ensures data availability in fault-prone distributed systems. The celebrated CAP theorem stipulates that replicas cannot guarantee both strong consistency and availability under network partitions. A popular alternative, adopted…
Answering connectivity queries is fundamental to fully dynamic graphs where edges and vertices are inserted and deleted frequently. Existing work proposes data structures and algorithms with worst-case guarantees. We propose a new data…
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…
Building consistent distributed systems has largely depended on complex coordination strategies that are not only tricky to implement, but also take a toll on performance as they require nodes to wait for coordination messages. In this…
High-performance closed-loop control of truly soft continuum manipulators has remained elusive. Experimental demonstrations have largely relied on sufficiently stiff, piecewise architectures in which each actuated segment behaves as a…
Behavior Trees constitute a widespread AI tool which has been successfully spun out in robotics. Their advantages include simplicity, modularity, and reusability of code. However, Behavior Trees remain a high-level decision making engine;…
Robust and persistent localisation is essential for ensuring the safe operation of autonomous vehicles. When operating in large and diverse urban driving environments, autonomous vehicles are frequently exposed to situations that violate…
Humans seamlessly fuse anticipatory planning with immediate feedback to perform successive mobile manipulation tasks without stopping, achieving both high efficiency and reliability. Replicating this fluid and reliable behavior in robots…
Heterogeneous Robot Teams can provide a wide range of capabilities and therefore significant benefits when handling a mission. However, they also require new approaches to capability and mission definition that are not only suitable to…
On-demand peer-to-peer ride-sharing services provide flexible mobility options, and are expected to alleviate congestion by sharing empty car seats. An efficient matching algorithm is essential to the success of a ride-sharing system. The…
Federated learning has emerged as a promising distributed learning paradigm that facilitates collaborative learning among multiple parties without transferring raw data. However, most existing federated learning studies focus on either…
Modern distributed databases face challenges in achieving transactional consistency across distributed partitions. Traditional two-phase commit (2PC) protocols incur high coordination overhead and latency, and require complex recovery for…
Federated Leaning is an emerging approach to manage cooperation between a group of agents for the solution of Machine Learning tasks, with the goal of improving each agent's performance without disclosing any data. In this paper we present…
This two-part paper discusses robustification methodologies for linear-iterative distributed algorithms for consensus and coordination problems in multicomponent systems, in which unreliable communication links may drop packets. We consider…
Fast, autonomous flight in unstructured, cluttered environments such as forests is challenging because it requires the robot to compute new plans in realtime on a computationally-constrained platform. In this paper, we enable this…
Reconfiguration is one of the central mechanisms in distributed systems. Due to failures and connectivity disruptions, the very set of service replicas (or servers) and their roles in the computation may have to be reconfigured over time.…
The behavioural theory of concurrent systems states that any concurrent system can be captured by a behaviourally equivalent concurrent Abstract State Machine (cASM). While the theory in general assumes shared locations, it remains valid,…
This paper presents a novel algorithm, called MRRT, which uses multiple rapidly-exploring random trees for fast online replanning of autonomous vehicles in dynamic environments with moving obstacles. The proposed algorithm is built upon the…
We develop Clustered Random Forests, a random forests algorithm for clustered data, arising from independent groups that exhibit within-cluster dependence. The leaf-wise predictions for each decision tree making up clustered random forests…