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This paper presents SHARP (Supercomputing for High-speed Avoidance and Reactive Planning), a proof-of-concept study demonstrating how high-performance computing (HPC) can enable millisecond-scale responsiveness in robotic control. While…
Reliable broadcast (RBC) is a key primitive in fault-tolerant distributed systems, and improving its efficiency can benefit a wide range of applications. This work focuses on signature-free RBC protocols, which are particularly attractive…
Raft is a leader-based consensus algorithm that implements State Machine Replication (SMR), which replicates the service state across multiple servers to enhance fault tolerance. In Raft, the servers play one of three roles: leader,…
Asynchronous learning protocols have regained attention lately, especially in the Federated Learning (FL) setup, where slower clients can severely impede the learning process. Herein, we propose \texttt{AsyncDrop}, a novel asynchronous FL…
Inspired by emerging applications in vehicular networks, we address the problem of achieving high-reliability and low-latency communication in multi-hop wireless networks. We propose a new family of Automatic-Repeat-Requests (ARQs) based…
Internet-of-Things (IoT) is featured with low-power communications among a massive number of ubiquitously-deployed and energy-constrained electronics, e.g., sensors and actuators. To cope with the demand, wireless-powered cooperative…
Hierarchical ring networks, which hierarchically connect multiple levels of rings, have been proposed in the past to improve the scalability of ring interconnects, but past hierarchical ring designs sacrifice some of the key benefits of…
We consider \emph{plurality consensus} in a network of $n$ nodes. Initially, each node has one of $k$ opinions. The nodes execute a (randomized) distributed protocol to agree on the plurality opinion (the opinion initially supported by the…
Safely deploying robots in uncertain and dynamic environments requires a systematic accounting of various risks, both within and across layers in an autonomy stack from perception to motion planning and control. Many widely used motion…
Long-term deployment of a fleet of mobile robots requires reliable and secure two-way communication channels between individual robots and remote human operators for supervision and tasking. Existing open-source solutions to this problem…
Convergence of multiple access technologies is one of the key enablers in providing a diverse set of services to the Fifth Generation (5G) users. Though the 3rd Generation Partnership Project (3GPP) 5G standard defines a common core…
Blockchains use consensus protocols to reach agreement, e.g., on the ordering of transactions. DAG-based consensus protocols are increasingly adopted by blockchain companies to reduce energy consumption and enhance security. These protocols…
The surge in generative AI workloads has created a need for scalable inference systems that can flexibly harness both GPUs and specialized accelerators while containing operational costs. This paper proposes a hardware-agnostic control loop…
Distributed replication systems based on the replicated state machine model have become ubiquitous as the foundation of modern database systems. To ensure availability in the presence of faults, these systems must be able to dynamically…
Introducing FirecREST v2, the next generation of our open-source RESTful API for programmatic access to HPC resources. FirecREST v2 delivers a 100x performance improvement over its predecessor. This paper explores the lessons learned from…
Because wireless communication is dynamic and has inherent defects, routing algorithms are crucial in the quickly evolving field of mobile ad hoc networks, or MANETs This study looks at the many security problems that MANETs encounter.…
Weighted voting is a conventional approach to improving the performance of replicated systems based on commonly-used majority quorum systems in heterogeneous environments. In long-lived systems, a weight reassignment protocol is required to…
State machine replication protocols, like MultiPaxos and Raft, are at the heart of nearly every strongly consistent distributed database. To tolerate machine failures, these protocols must replace failed machines with live machines, a…
This paper presents EasyRAG, a simple, lightweight, and efficient retrieval-augmented generation framework for automated network operations. Our framework has three advantages. The first is accurate question answering. We designed a…
In this paper, we propose a novel hierarchical framework for robot navigation in dynamic environments with heterogeneous constraints. Our approach leverages a graph neural network trained via reinforcement learning (RL) to efficiently…