Related papers: An Efficient Approach to Move Elements in a Distri…
Querying graph data with low latency is an important requirement in application domains such as social networks and knowledge graphs. Graph queries perform multiple hops between vertices. When data is partitioned and stored across multiple…
The task management is a critical component for the computational grids. The aim is to assign tasks on nodes according to a global scheduling policy and a view of local resources of nodes. A peer-to-peer approach for the task management…
We propose a distributed planning method with asynchronous execution for multi-agent pickup and delivery (MAPD) problems for environments with occasional delays in agents' activities and flexible endpoints. MAPD is a crucial problem…
Constraint problems can be trivially solved in parallel by exploring different branches of the search tree concurrently. Previous approaches have focused on implementing this functionality in the solver, more or less transparently to the…
This paper addresses the fast replanning problem in dynamic environments with moving obstacles. Since for randomly moving obstacles the future states are unpredictable, the proposed method, called SMARRT, reacts to obstacle motions and…
Efficient discovery of frequent itemsets in large datasets is a crucial task of data mining. In recent years, several approaches have been proposed for generating high utility patterns, they arise the problems of producing a large number of…
Many real-world problems require making sequences of decisions where the outcomes of each decision are probabilistic and uncertain, and the availability of different actions is constrained by the outcomes of previous actions. There is a…
In this paper, we present the main features of Dynamic Rapidly-exploring Generalized Bur Tree (DRGBT) algorithm, a sampling-based planner for dynamic environments. We provide a detailed time analysis and appropriate scheduling to facilitate…
Balanced search trees are widely used in computer science to efficiently maintain dynamic ordered data. To support efficient set operations (e.g., union, intersection, difference) using trees, the join-based framework is widely studied.…
This paper proposes the Real-Time Fast Marching Tree (RT-FMT), a real-time planning algorithm that features local and global path generation, multiple-query planning, and dynamic obstacle avoidance. During the search, RT-FMT quickly looks…
We consider the problem of stragglers in distributed computing systems. Stragglers, which are compute nodes that unpredictably slow down, often increase the completion times of tasks. One common approach to mitigating stragglers is work…
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…
Recently proposed budding tree is a decision tree algorithm in which every node is part internal node and part leaf. This allows representing every decision tree in a continuous parameter space, and therefore a budding tree can be jointly…
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…
We investigate the distributed planning of robot trajectories for optimal execution of cooperative tasks with time windows. In this setting, each task has a value and is completed if sufficiently many robots are simultaneously present at…
In the present paper we develop a distributed method to reconnect a multi-robot team after connectivity failures, caused by unpredictable environment changes, i.e. appearance of new obstacles. After the changes, the team is divided into…
We address the problem of visually guided rearrangement planning with many movable objects, i.e., finding a sequence of actions to move a set of objects from an initial arrangement to a desired one, while relying on visual inputs coming…
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…
The recent proliferation of Data Grids and the increasingly common practice of using resources as distributed data stores provide a convenient environment for communities of researchers to share, replicate, and manage access to copies of…
This paper aims at proposing a procedure to derive distributed algorithms for distributed consensus-based optimization by using distributed algorithms for network resource allocation and vice versa over switching networks with/without…