Related papers: Fixed-Priority and EDF Schedules for ROS2 Graphs o…
ROS 2 is rapidly becoming a standard in the robotics industry. Built upon DDS as its default communication middleware and used in safety-critical scenarios, adding security to robots and ROS computational graphs is increasingly becoming a…
This paper focuses on the problem of coflow scheduling with precedence constraints in identical parallel networks, which is a well-known $\mathcal{NP}$-hard problem. Coflow is a relatively new network abstraction used to characterize…
Scheduling of constrained deadline sporadic task systems on multiprocessor platforms is an area which has received much attention in the recent past. It is widely believed that finding an optimal scheduler is hard, and therefore most…
There has been a growing interest in causal learning in recent years. Commonly used representations of causal structures, including Bayesian networks and structural equation models (SEM), take the form of directed acyclic graphs (DAGs). We…
Edge computing has become a promising computing paradigm for building IoT (Internet of Things) applications, particularly for applications with specific constraints such as latency or privacy requirements. Due to resource constraints at the…
Access to parallel and distributed computation has enabled researchers and developers to improve algorithms and performance in many applications. Recent research has focused on next generation special purpose systems with multiple kinds of…
Various real-life planning problems require making upfront decisions before all parameters of the problem have been disclosed. An important special case of such problem especially arises in scheduling and staff rostering problems, where a…
Requiring multiple demonstrations of a task plan presents a burden to end-users of robots. However, robustly executing tasks plans from a single end-user demonstration is an ongoing challenge in robotics. We address the problem of one-shot…
This paper addresses the problem of scheduling jobs on identical machines with conflict constraints, where certain jobs cannot be scheduled simultaneously on different machines. We focus on the case where conflicts can be represented by a…
Distributed opportunistic scheduling (DOS) protocols are proposed for multiple-input multiple-output (MIMO) ad-hoc networks with contention-based medium access. The proposed scheduling protocols distinguish themselves from other existing…
Scheduling a set of jobs over a collection of machines is a fundamental problem that needs to be solved millions of times a day in various computing platforms: in operating systems, in large data clusters, and in data centers. Along with…
This paper focuses on the link scheduling problem in networks where signal delays between nodes are multiples of a time interval. To model such networks, a directed hypergraph is employed, along with an integer matrix that specifies the…
Systems based on the Robot Operating System (ROS) are easy to extend with new on-line algorithms and devices. However, there is relatively little support for coordinating a large number of heterogeneous sub-systems. In this paper we propose…
Trajectory planning is crucial in multi-robot systems, particularly in environments with numerous obstacles. While extensive research has been conducted in this field, the challenge of coordinating multiple robots to flow collectively from…
As deep learning models continue to increase in size, the memory requirements for training have surged. While high-level techniques like offloading, recomputation, and compression can alleviate memory pressure, they also introduce…
Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and…
Edge/Fog computing is a novel computing paradigm that provides resource-limited Internet of Things (IoT) devices with scalable computing and storage resources. Compared to cloud computing, edge/fog servers have fewer resources, but they can…
In this paper the problem of scheduling of jobs on parallel machines under incompatibility relation is considered. In this model a binary relation between jobs is given and no two jobs that are in the relation can be scheduled on the same…
We propose three novel mathematical optimization formulations that solve the same two-type heterogeneous multiprocessor scheduling problem for a real-time taskset with hard constraints. Our formulations are based on a global scheduling…
Computation in several real-world applications like probabilistic machine learning, sparse linear algebra, and robotic navigation, can be modeled as irregular directed acyclic graphs (DAGs). The irregular data dependencies in DAGs pose…