Related papers: Potential gains of communication-compute-control c…
The UPC programming language offers parallelism via logically partitioned shared memory, which typically spans physically disjoint memory sub-systems. One convenient feature of UPC is its ability to automatically execute between-thread data…
Production high-performance computing systems continue to grow in complexity and size. As applications struggle to make use of increasingly heterogeneous compute nodes, maintaining high efficiency (performance per watt) for the whole…
The optimal control of distribution networks often requires monitoring and communication infrastructure, either centralized or distributed. However, most of the current distribution systems lack this kind of infrastructure and rely on…
The purpose of this paper is to present a theoretic and numerical study of utilizing squeezing and phase shift in coherent feedback control of linear quantum optical systems. A quadrature representation with built-in phase shifters is…
In this paper, we study cooperative multi-agent systems in which the target objective and the controls exercised by the agents are dependent on the choices they made at initial system time. Such systems have been investigated in several…
Considering two users exchange computational results through a two-way relay equipped with a mobile-edge computing server, we investigate the joint optimization problem of cooperative communication and computation, whose objective is the…
When multiple self-adaptive systems share the same environment and have common goals, they may coordinate their adaptations at runtime to avoid conflicts and to satisfy their goals. There are two approaches to coordination. (1) Logically…
Human motion prediction is non-trivial in modern industrial settings. Accurate prediction of human motion can not only improve efficiency in human robot collaboration, but also enhance human safety in close proximity to robots. Among…
This paper presents a novel contact-implicit trajectory optimization method using an analytically solvable contact model to enable planning of interactions with hard, soft, and slippery environments. Specifically, we propose a novel contact…
In this paper, we proposed an effective and efficient multi-core shared-cache design optimization approach based on reuse-distance analysis of the data traces of target applications. Since data traces are independent of system hardware…
Resource allocation is a fundamental problem in Industrial Internet of Things (IIoT) systems, in which devices work together under limited communication bandwidth to complete diverse tasks. This paper proposes a communication-efficient…
In this paper, we aim to achieve a human-robot work balance by implementing shared autonomy through a web interface. Shared autonomy integrates user input with the autonomous capabilities of the robot and therefore increases the overall…
Designing multi-agent robotic systems requires reasoning across tightly coupled decisions spanning heterogeneous domains, including robot design, fleet composition, and planning. Much effort has been devoted to isolated improvements in…
We develop a framework for communication-control co-design in a wireless networked control system with multiple geographically separated controllers and controlled systems, modeled via a Poisson point process. Each controlled system…
This paper investigates two distinct approaches to the dynamic modeling of aerial continuum manipulators (ACMs): the decoupled and the coupled formulations. Both open-loop and closed-loop behaviors of a representative ACM are analyzed. The…
We propose a new algorithm to simplify the controller development for distributed robotic systems subject to external observations, disturbances, and communication delays. Unlike prior approaches that propose specialized solutions to…
Coded distributed computing introduced by Li et al. in 2015 is an efficient approach to trade computing power to reduce the communication load in general distributed computing frameworks such as MapReduce. In particular, Li et al. show that…
The transformation to smart factories and the automation of mobile robotics is partly driven by a growing availability of ubiquitous cloud technologies. In cyber-physical systems, such as control systems, critical parts can be migrated to a…
Distributed optimization consists of multiple computation nodes working together to minimize a common objective function through local computation iterations and network-constrained communication steps. In the context of robotics,…
This paper presents the formulation and results for a control-aware optimization of the combined geometric and structural design of an energy-harvesting underwater kite. Because kite-based energy-harvesting systems, both airborne and…