Related papers: The Matter of Time -- A General and Efficient Syst…
Tasks that one wishes to have done by a computer often come with conditions that relate to timescales. For instance, the processing must terminate within a given time limit; or a signal processing computer must integrate input information…
In this paper, we study the problem of robust global synchronization of resetting clocks in multi-agent networked systems, where by robust global synchronization we mean synchronization that is insensitive to arbitrarily small disturbances,…
We propose a distributed algorithm for time synchronization in mobile wireless sensor networks. Each node can employ the algorithm to estimate the global time based on its local clock time. The problem of time synchronization is formulated…
As the Moore's scaling era comes to an end, application specific hardware accelerators appear as an attractive way to improve the performance and power efficiency of our computing systems. A massively heterogeneous system with a large…
Intelligent mobile robots are critical in several scenarios. However, as their computational resources are limited, mobile robots struggle to handle several tasks concurrently and yet guaranteeing real-timeliness. To address this challenge…
The work described in this paper explores the use of time and synchronized clocks in centrally-managed and Software Defined Networks (SDNs). One of the main goals of this work is to analyze use cases in which explicit use of time is…
One of the most important problems in the field of distributed optimization is the problem of minimizing a sum of local convex objective functions over a networked system. Most of the existing work in this area focus on developing…
The problem of time synchronization in dense wireless networks is considered. Well established synchronization techniques suffer from an inherent scalability problem in that synchronization errors grow with an increasing number of hops…
Multi-robot decision-making is the process where multiple robots coordinate actions. In this paper, we aim for efficient and effective multi-robot decision-making despite the robots' limited on-board resources and the often…
Robotic systems are complex and safety-critical software systems. As such, they need to be tested thoroughly. Unfortunately, robot software is intrinsically hard to test compared to traditional software, mainly since the software needs to…
We consider the first problem that appears in any application of synchronizing automata, namely, the problem of deciding whether or not a given $n$-state $k$-letter automaton is synchronizing. First we generalize results from…
Mobile edge computing (MEC) deployment in a multi-robot cooperation (MRC) system is an effective way to accomplish the tasks in terms of energy consumption and implementation latency. However, the computation and communication resources…
This paper introduces a novel, fast atomic-snapshot protocol for asynchronous message-passing systems. In the process of defining what ``fast'' means exactly, we spot a few interesting issues that arise when conventional time metrics are…
Event cameras are a novel type of sensor designed for capturing the dynamic changes of a scene. Due to factors such as trigger and transmission delays, a time offset exists in the data collected by multiple event cameras, leading to…
This tutorial, addressing physics teachers and undergraduate students, aims at clarifying some aspects of time in special relativity. In particular, time dilation is usually presented only as the well-known ratio of lab time over proper…
A parallel computer system is a collection of processing elements that communicate and cooperate to solve large computational problems efficiently. To achieve this, at first the large computational problem is partitioned into several tasks…
Efficient robot dynamics simulation is a fundamental problem key for robot control, identification, design and analysis. This research statement explores my current progress in this field and future research directions.
The rapid development of robotics has benefited by more and more people putting their attention to it. With the demand for robots is growing for the purpose of fulfilling tasks instead of humans, how to control the robot better is becoming…
In this work, we survey the role of GPUs in real-time systems. Originally designed for parallel graphics workloads, GPUs are now widely used in time-critical applications such as machine learning, autonomous vehicles, and robotics due to…
The success of the human-robot co-worker team in a flexible manufacturing environment where robots learn from demonstration heavily relies on the correct and safe operation of the robot. How this can be achieved is a challenge that requires…