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In this thesis, we aim to improve the performance of TAMP algorithms from three complementary perspectives. First, we investigate the integration of discrete task planning with continuous trajectory optimization. Our main contribution is a…
Robots sometimes have to work together with a mixture of partially-aligned or conflicting goals. Flocking - coordinated motion through cohesion, alignment, and separation - traditionally assumes uniform desired inter-agent distances. Many…
In this paper, we consider a network of processors aiming at cooperatively solving mixed-integer convex programs subject to uncertainty. Each node only knows a common cost function and its local uncertain constraint set. We propose a…
Split conformal prediction (CP) is arguably the most popular CP method for uncertainty quantification, enjoying both academic interest and widespread deployment. However, the original theoretical analysis of split CP makes the crucial…
We study the problem of how to coordinate the actions of independent agents in a distributed system where message arrival times are unbounded, but are determined by an exponential probability distribution. Asynchronous protocols executed in…
A quantum state is called concordant if it has zero quantum discord with respect to any part. By extension, a concordant computation is one such that the state of the computer, at each time step, is concordant. In this paper, I describe a…
We study large-scale distributed cooperative systems that use optimistic replication. We represent a system as a graph of actions (operations) connected by edges that reify semantic constraints between actions. Constraint types include…
We propose an asynchronous, decentralized algorithm for consensus optimization. The algorithm runs over a network in which the agents communicate with their neighbors and perform local computation. In the proposed algorithm, each agent can…
Anytime reliable communication systems are needed in contexts where the property of vanishing error probability with time is critical. This is the case of unstable real time systems that are to be controlled through the transmission and…
From the beginning of KAM theory, it was realized that its applicability to realistic problems depended on developing quantitative estimates on the sizes of the perturbations allowed. In this paper we present results on the existence of…
Formal verification methods for concurrent systems cannot always be scaled-down or tailored in order to be applied on specific subsystems. We address such an issue in a MultiParty Session Types setting by devising a partial type assignment…
An arbitrarily reliable quantum computer can be efficiently constructed from noisy components using a recursive simulation procedure, provided that those components fail with probability less than the fault-tolerance threshold. Recent…
Shared resources synchronization is a well studied problem, in both shared memory environment or distributed memory environment. Many synchronization mechanisms are proposed, with their own way to reach certain consistency level. This…
Algorithms to solve fault-tolerant consensus in asynchronous systems often rely on primitives such as crusader agreement, adopt-commit, and graded broadcast, which provide weaker agreement properties than consensus. Although these…
Multi-party random number generation is a key building-block in many practical protocols. While straightforward to solve when all parties are trusted to behave correctly, the problem becomes much more difficult in the presence of faults. In…
We study the consensus problem in a synchronous distributed system of $n$ nodes under an adaptive adversary that has a slightly outdated view of the system and can block all incoming and outgoing communication of a constant fraction of the…
Session types provide a typing discipline for message-passing systems. However, their theory often assumes an ideal world: one in which everything is reliable and without failures. Yet this is in stark contrast with distributed systems in…
Large-scale key-value storage systems sacrifice consistency in the interest of dependability (i.e., partition tolerance and availability), as well as performance (i.e., latency). Such systems provide eventual consistency,which---to this…
In the $\varepsilon$-Consensus-Halving problem, a fundamental problem in fair division, there are $n$ agents with valuations over the interval $[0,1]$, and the goal is to divide the interval into pieces and assign a label "$+$" or "$-$" to…
Numerical solution of partial differential equations on parallel computers using domain decomposition usually requires synchronization and communication among the processors. These operations often have a significant overhead in terms of…