Related papers: Extending JSON CRDTs with Move Operations
This paper presents a hybrid robot motion planner that generates long-horizon motion plans for robot navigation in environments with obstacles. We propose a hybrid planner, RRT* with segmented trajectory optimization (RRT*-sOpt), which…
Recent studies have shown that Dense Retrieval (DR) techniques can significantly improve the performance of first-stage retrieval in IR systems. Despite its empirical effectiveness, the application of DR is still limited. In contrast to…
In this paper, we present a fully-dynamic distributed algorithm for maintaining a minimum spanning tree on general graphs with positive real edge weights. The goal of a dynamic MST algorithm is to update efficiently the minimum spanning…
Despite its rising popularity as data format especially for web services, the software ecosystem around the JavaScript Object Notation (JSON) is not as widely distributed as that of XML. For both data formats there exist schema languages to…
Online services are commonly implemented with a scalable microservice architecture, where isomorphic workers process client requests, recording persistent state in a backend data store. To maintain service, modifications to service…
Most animal and human locomotion behaviors for solving complex tasks involve dynamic motions and rich contact interaction. In fact, complex maneuvers need to consider dynamic movement and contact events at the same time. We present a…
By the CAP Theorem, a distributed data storage system can ensure either Consistency under Partition (CP) or Availability under Partition (AP), but not both. This has led to a split between CP databases, in which updates are synchronous, and…
Multi-robot teams have attracted attention from industry and academia for their ability to perform collaborative tasks in unstructured environments, such as wilderness rescue and collaborative transportation.In this paper, we propose a…
Many problems reduce to the fixed-point problem of solving $x=T(x)$. To this problem, we apply the coordinate-update algorithms, which update only one or a few components of $x$ at each step. When each update is cheap, these algorithms are…
In an environment where a manipulator needs to execute multiple consecutive tasks, the act of object manoeuvre will change the underlying configuration space, affecting all subsequent tasks. Previously free configurations might now be…
A data structure is presented for the Mergeable Dictionary abstract data type, which supports the following operations on a collection of disjoint sets of totally ordered data: Predecessor-Search, Split and Merge. While Predecessor-Search…
The Operational Transformation (OT) approach, used in many collaborative editors, allows a group of users to concurrently update replicas of a shared object and exchange their updates in any order. The basic idea of this approach is to…
Asynchronous frameworks for distributed embedded systems, like ROS and MQTT, are increasingly used in safety-critical applications such as autonomous driving, where the cost of unintended behavior is high. The coordination mechanism between…
We study dynamic graph algorithms in the Massively Parallel Computation model, which was inspired by practical data processing systems. Our goal is to provide algorithms that can efficiently handle large batches of edge insertions and…
In the classical context of robotic mapping and localization, map matching is typically defined as the task of finding a rigid transformation (i.e., 3DOF rotation/translation on the 2D moving plane) that aligns the query and reference maps…
\textsc{Directed Token Sliding} asks, given a directed graph and two sets of pairwise nonadjacent vertices, whether one can reach from one set to the other by repeatedly applying a local operation that exchanges a vertex in the current set…
In this study, we propose task planning framework for multiple robots that builds on a behavior tree (BT). BTs communicate with a data distribution service (DDS) to send and receive data. Since the standard BT derived from one root node…
Distributed applications often deal with data with different consistency requirements: while a post in a social network only requires weak consistency, the user balance in turn has strong correctness requirements, demanding mutations to be…
The lifted dynamic junction tree algorithm (LDJT) efficiently answers filtering and prediction queries for probabilistic relational temporal models by building and then reusing a first-order cluster representation of a knowledge base for…
When conducting autonomous scanning for the online reconstruction of unknown indoor environments, robots have to be competent at exploring scene structure and reconstructing objects with high quality. Our key observation is that different…