相关论文: Correctness of Hierarchical MCS Locks with Timeout

This research introduces a multi-horizon contingency model predictive control (CMPC) framework in which classes of robust MPC (RMPC) algorithms are combined with classes of learning-based MPC (LB-MPC) algorithms to enable safe learning. We…

We present Contingency Model Predictive Control (CMPC), a motion planning and control framework that optimizes performance objectives while simultaneously maintaining a contingency plan -- an alternate trajectory that avoids a potential…

Sequence learning, prediction and replay have been proposed to constitute the universal computations performed by the neocortex. The Hierarchical Temporal Memory (HTM) algorithm realizes these forms of computation. It learns sequences in an…

This paper presents the first implementation of a search tree data structure in an asynchronous shared-memory system that provides a wait-free algorithm for executing range queries on the tree, in addition to non-blocking algorithms for…

As compared to typical mobile manipulation tasks, sequential mobile manipulation poses a unique challenge -- as the robot operates over extended periods, successful task completion is not solely dependent on consistent motion generation but…

In this article we present Mutable Locks, a synchronization construct with the same execution semantic of traditional locks (such as spin locks or sleep locks), but with a self-tuned optimized trade off between responsiveness---in the…

Suboptimal model predictive control is a technique that can reduce the computational cost of model predictive control (MPC) by exploiting its robustness to incomplete optimization. Instead of solving the optimal control problem exactly,…

Aggregation constraints, arising from geographical or sectoral division, frequently emerge in a large set of time series. Coherent forecasts of these constrained series are anticipated to conform to their hierarchical structure organized by…

We systematically survey the literature on analytically sound multiprocessor real-time locking protocols from 1988 until 2018, covering the following topics: progress mechanisms that prevent the lock-holder preemption problem, spin-lock…

In computer and system sciences, higher-order cellular automata (HOCA) are a type of cellular automata that evolve over multiple time steps and generate complex patterns, which have various applications such as secret sharing schemes, data…

We propose a topology-aware distributed Reader-Writer lock that accelerates irregular workloads for supercomputers and data centers. The core idea behind the lock is a modular design that is an interplay of three distributed data…

Uncertainties in balancing generation and load in low-carbon industrial microgrids (IMGs) make hybrid energy storage systems (HESS) crucial for their stable and economic operation. Existing model predictive control (MPC) techniques…

Monte Carlo Tree Search (MCTS) is an effective test-time compute scaling (TTCS) method for improving the reasoning performance of large language models, but its highly variable execution time leads to severe long-tail latency in practice.…

The paper presents the first \emph{concurrency-optimal} implementation of a binary search tree (BST). The implementation, based on a standard sequential implementation of an internal tree, ensures that every \emph{schedule} is accepted,…

Hierarchical clustering (HC) algorithms are generally limited to small data instances due to their runtime costs. Here we mitigate this shortcoming and explore fast HC algorithms based on random projections for single (SLC) and average…

This paper presents a batch-parallel 2-3 tree T in an asynchronous dynamic multithreading model that supports searches, insertions and deletions in sorted batches and has essentially optimal parallelism, even under the restrictive QRMW…

This paper presents a Nonlinear Model Predictive Control (NMPC) scheme targeted at motion planning for mechatronic motion systems, such as drones and mobile platforms. NMPC-based motion planning typically requires low computation times to…

Model predictive control (MPC) is a powerful framework for optimal control of dynamical systems. However, MPC solvers suffer from a high computational burden that restricts their application to systems with low sampling frequency. This…

Auto-regressive decoding in Large Language Models (LLMs) is inherently memory-bound: every generation step requires loading the model weights and intermediate results from memory (e.g., High-Bandwidth Memory (HBM) for GPU servers), making…

This work addresses the problem of exact schedulability assessment in uniprocessor mixed-criticality real-time systems with sporadic task sets. We model the problem by means of a finite automaton that has to be explored in order to check…