Related papers: An Efficient Approach to Move Elements in a Distri…
Replication is a key technique in the design of efficient and reliable distributed systems. As information grows, it becomes difficult or even impossible to store all information at every replica. A common approach to deal with this problem…
Robotic systems may frequently come across similar manipulation planning problems that result in similar motion plans. Instead of planning each problem from scratch, it is preferable to leverage previously computed motion plans, i.e.,…
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…
This paper proposes a cooperative environmental learning algorithm working in a fully distributed manner. A multi-robot system is more effective for exploration tasks than a single robot, but it involves the following challenges: 1) online…
In this paper, a novel distributed scheduling algorithm is proposed, which aims to efficiently schedule both the uplink and downlink backhaul traffic in the relay-assisted mmWave backhaul network with a tree topology. The handshaking of…
The increasing popularity of cloud computing has resulted in a proliferation of data centers. Effective placement of data centers improves network performance and minimizes clients' perceived latency. The problem of determining the optimal…
Distributed resource allocation is a central task in network systems such as smart grids, water distribution networks, and urban transportation systems. When solving such problems in practice it is often important to have nonasymptotic…
Network slicing is emerging as a promising method to provide sought-after versatility and flexibility to cope with ever-increasing demands. To realize such potential advantages and to meet the challenging requirements of various network…
Dynamic replication is a wide-spread multi-copy routing approach for efficiently coping with the intermittent connectivity in mobile opportunistic networks. According to it, a node forwards a message replica to an encountered node based on…
Parallel real-time embedded applications can be modelled as directed acyclic graphs (DAGs) whose nodes model subtasks and whose edges model precedence constraints among subtasks. Efficiently scheduling such parallel tasks can be challenging…
This paper investigates an edge computing system where requests are processed by a set of replicated edge servers. We investigate a class of applications where similar queries produce identical results. To reduce processing overhead on the…
In this paper, we consider the problem of distributed inference in tree based networks. In the framework considered in this paper, distributed nodes make a 1-bit local decision regarding a phenomenon before sending it to the fusion center…
In this paper, we discuss and compare several policies to place replicas in tree networks, subject to server capacity and QoS constraints. The client requests are known beforehand, while the number and location of the servers are to be…
We explore the problem of efficiently implementing shared data structures in an asynchronous computing environment. We start with a traditional FIFO queue, showing that full replication is possible with a delay of only a single round-trip…
We revisit the mergeable dictionaries with shift problem, where the goal is to maintain a family of sets subject to search, split, merge, make-set, and shift operations. The search, split, and make-set operations are the usual well-known…
This paper addresses the problem of active information gathering for multi-robot systems. Specifically, we consider scenarios where robots are tasked with reducing uncertainty of dynamical hidden states evolving in complex environments. The…
This paper addresses the problem of coordination of a fleet of mobile robots - the problem of finding an optimal set of collision-free trajectories for individual robots in the fleet. Many approaches have been introduced during the last…
This paper proposes a bidirectional rapidly-exploring random trees (RRT) algorithm to solve the motion planning problem for hybrid systems. The proposed algorithm, called HyRRT-Connect, propagates in both forward and backward directions in…
In this paper, we present a method of multi-robot motion planning by biasing centralized, sampling-based tree search with decentralized, data-driven steer and distance heuristics. Over a range of robot and obstacle densities, we evaluate…
Dynamic trees are mixtures of tree structured belief networks. They solve some of the problems of fixed tree networks at the cost of making exact inference intractable. For this reason approximate methods such as sampling or mean field…