相关论文: Correctness of Hierarchical MCS Locks with Timeout

Hardware Transactional Memory (HTM) allows lock-free programming as easy as with traditional coarse-grain locks or similar, while benefiting from the performance advantages of fine-grained locking. Many HTM implementations have been…

Succinct trees, such as wavelet trees and those based on, for instance, range Min-Max trees (RMMTs), are a family of practical data structures that store information close to their information-theoretic space lower bound. These structures…

Algorithms that use hardware transactional memory (HTM) must provide a software-only fallback path to guarantee progress. The design of the fallback path can have a profound impact on performance. If the fallback path is allowed to run…

Model Predictive Control (MPC) is widely used to operate safety-critical infrastructure by predicting future trajectories and optimizing control actions. However, nonlinear dynamics, hard safety constraints, and numerical optimization often…

This paper proposes a novel hierarchical model predictive control (MPC) strategy that guarantees overall system stability. This method differs significantly from previous approaches to guaranteeing overall stability, which have relied upon…

A standard design pattern found in many concurrent data structures, such as hash tables or ordered containers, is alternation of parallelizable sections that incur no data conflicts and critical sections that must run sequentially and are…

We propose a parallel algorithm for local, on the fly, model checking of a fragment of CTL that is well-suited for modern, multi-core architectures. This model-checking algorithm takes bene t from a parallel state space construction…

Hotspots, a small set of tuples frequently read/written by a large number of transactions, cause contention in a concurrency control protocol. While a hotspot may comprise only a small fraction of a transaction's execution time,…

We present an extension of Monte Carlo Tree Search (MCTS) that strongly increases its efficiency for trees with asymmetry and/or loops. Asymmetric termination of search trees introduces a type of uncertainty for which the standard upper…

Model predictive control (MPC) has been widely used in many fields, often in hierarchical architectures that combine controllers and decision-making layers at different levels. However, when such architectures are cast as bilevel…

This work proposes a unified Hierarchical Model Predictive Control (H-MPC) for modular manipulators across various morphologies, as the controller can adapt to different configurations to execute the given task without extensive parameter…

This paper proposes a real-time model predictive control (MPC) scheme to execute multiple tasks using robots over a finite-time horizon. In industrial robotic applications, we must carefully consider multiple constraints for avoiding joint…

Rollout control is an MPC-based control method, in which a controller is periodically activated to schedule the transmission of sensor or actuator data. Therein, a preassigned traffic specification acts as a constraint on the scheduled…

Model Predictive Control (MPC) is a powerful strategy for constrained multivariable systems but faces computational challenges in real-time deployment due to its online optimization requirements. While explicit MPC and neural network…

We study safety verification for multithreaded programs with recursive parallelism (i.e. unbounded thread creation and recursion) as well as unbounded integer variables. Since the threads in each program configuration are structured in a…

Stateless Model Checking (SMC) is a verification technique for concurrent programs that checks for safety violations by exploring all possible thread schedulings. It is highly effective when coupled with Dynamic Partial Order Reduction…

A hierarchical Model Predictive Control (MPC) formulation is presented for coupled discrete-time linear systems with state and input constraints. Compared to a centralized approach, a two-level hierarchical controller, with one controller…

In the critical beta-splitting model of a random $n$-leaf rooted tree, clades are recursively (from the root) split into sub-clades, and a clade of $m$ leaves is split into sub-clades containing $i$ and $m-i$ leaves with probabilities…

To efficiently deploy robotic systems in society, mobile robots must move autonomously and safely through complex environments. Nonlinear model predictive control (MPC) methods provide a natural way to find a dynamically feasible trajectory…

Classical computability theory tells us that self-modifying code (SMC) on a deterministic universal Turing machine can be simulated by non-SMC code on the same model. That abstraction, however, omits the external timing inputs, concurrency,…