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Multi-robot systems rely on underlying connectivity to ensure reliable communication and timely coordination. This paper studies the line-of-sight (LoS) connectivity maintenance problem in multi-robot navigation with unknown obstacles.…
Coordinated operations of multi-robot systems (MRS) require agents to maintain communication connections to accomplish team objectives. However, maintaining the connections imposes costs in terms of restricted robot mobility, resulting in…
To adapt to continuously changing workloads in networks, components of the running network services may need to be replicated (scaling the network service) and allocated to physical resources (placement) dynamically, also necessitating…
We describe here a structured system for distributed mechanism design appropriate for both Intranet and Internet applications. In our approach the players dynamically form a network in which they know neither their neighbours nor the size…
Many-core architectures of the future are likely to have distributed memory organizations and need fine grained concurrency management to be used effectively. The Self-adaptive Virtual Processor (SVP) is an abstract concurrent programming…
LLMs are increasingly executed in edge where limited GPU memory and heterogeneous computation jointly constrain deployment which motivates model partitioning and request scheduling. In this setting, minimizing latency requires addressing…
Significant outages from weather and climate extremes have highlighted the critical need for resilience-centered risk management of the grid. This paper proposes a multi-stage stochastic robust optimization (SRO) model that advances the…
The topology of a robotic swarm affects the convergence speed of consensus and the mobility of the robots. In this paper, we prove the existence of a complete set of local topology manipulation operations that allow the transformation of a…
Connecting the wired and wireless networks particularly the Mobile ad hoc Network is interesting in real world situations due to its usefulness and practicality. Different mechanisms have been proposed to integrate MANETs and the Internet.…
Brain connectomics is still largely dominated by pairwise-based models, such as graphs, which cannot represent circulatory or higher-order functional interactions. In this paper, we propose a multimodal framework based on Topological Signal…
The authors present an overview of a hierarchical framework for coordinating task- and motion-level operations in multirobot systems. Their framework is based on the idea of using simple temporal networks to simultaneously reason about…
To reduce the long training time of large deep neural network (DNN) models, distributed synchronous stochastic gradient descent (S-SGD) is commonly used on a cluster of workers. However, the speedup brought by multiple workers is limited by…
Probabilistic message-passing algorithms are developed for routing transmissions in multi-wavelength optical communication networks, under node and edge-disjoint routing constraints and for various objective functions. Global routing…
The consensus strategies used in collaborative multi-agent systems (MAS) face notable challenges related to adaptability, scalability, and convergence certainties. These approaches, including structured workflows, debate models, and…
We present a hierarchical planning and control framework that enables an agent to perform various tasks and adapt to a new task flexibly. Rather than learning an individual policy for each particular task, the proposed framework, DISH,…
This paper proposes a Scalable Internet Bandwidth Reservation Architecture (SIBRA) as a new approach against DDoS attacks, which, until now, continue to be a menace on today's Internet. SIBRA provides scalable inter-domain resource…
We present a novel mission-planning strategy for heterogeneous multi-robot teams, taking into account the specific constraints and capabilities of each robot. Our approach employs hierarchical trees to systematically break down complex…
Many data are naturally modeled by an unobserved hierarchical structure. In this paper we propose a flexible nonparametric prior over unknown data hierarchies. The approach uses nested stick-breaking processes to allow for trees of…
Large-scale neuromorphic architectures consist of computing tiles that communicate spikes using a shared interconnect. The communication patterns in such systems are inherently sparse, asynchronous, and localized due to the spiking nature…
Diffusion models have demonstrated strong potential for robotic trajectory planning. However, generating coherent trajectories from high-level instructions remains challenging, especially for long-range composition tasks requiring multiple…