相关论文: Task Frames
We derive an abstract computational model from a sequential computational model that is generally used for function execution. This abstract computational model allows for the concurrent execution of functions. We discuss concurrent models…
The scalability and efficiency of graph applications are significantly constrained by conventional systems and their supporting programming models. Technology trends like multicore, manycore, and heterogeneous system architectures are…
Dataflow devices represent an avenue towards saving the control and data movement overhead of Load-Store Architectures. Various dataflow accelerators have been proposed, but how to efficiently schedule applications on such devices remains…
Timetabling is a typical application of constraint programming whose task is to allocate activities to slots in available resources respecting various constraints like precedence and capacity. In this paper we present a basic concept, a…
Exascale systems, expected to emerge by the end of the next decade, will require the exploitation of billion-way parallelism at multiple hierarchical levels in order to achieve the desired sustained performance. The task of assessing future…
The Robot Operating System 2 (ROS~2) is a widely used middleware that provides software libraries and tools for developing robotic systems. In these systems, tasks are scheduled by ROS~2 executors. Since the scheduling behavior of the…
Training long-horizon robotic policies in complex physical environments is essential for many applications, such as robotic manipulation. However, learning a policy that can generalize to unseen tasks is challenging. In this work, we…
We propose a novel and efficient, custom frame synchronization architecture aimed at rapid deployment on any hardware platform. Frame synchronization is the process of discerning valid data frames from an incoming transmission and in this…
Workflows are among the most commonly used tools in a variety of execution environments. Many of them target a specific environment; few of them make it possible to execute an entire workflow in different environments, e.g. Kubernetes and…
In order to ensure the robust actuation of a plan, execution must be adaptable to unexpected situations in the world and to exogenous events. This is critical in domains in which committing to a wrong ordering of actions can cause the plan…
Recent advances in modern containerized execution environments have resulted in substantial benefits in terms of elasticity and more efficient utilization of computing resources. Although existing schedulers strive to optimize performance…
Many security and software testing applications require checking whether certain properties of a program hold for any possible usage scenario. For instance, a tool for identifying software vulnerabilities may need to rule out the existence…
In this article we extend the framework of execution of concurrent functions on different abstract levels from previous work with communication between the concurrent functions. We classify the communications and identify problems that can…
Bimanual and humanoid robots are appealing because of their human-like ability to leverage multiple arms to efficiently complete tasks. However, controlling multiple arms at once is computationally challenging due to the growth in the…
Task And Motion Planning (TAMP) is the problem of finding a solution to an automated planning problem that includes discrete actions executable by low-level continuous motions. This field is gaining increasing interest within the robotics…
Runtime verification consists in observing and collecting the execution traces of a system and checking them against a specification, with the objective of raising an error when a trace does not satisfy the specification. We consider…
The paper proposes a solution for the Grid scheduling problem, addressing in particular the requirement of high performance an efficient algorithm must fulfill. Advance Reservation engages a distributed, dynamic, fault-tolerant and…
Consensus is an often occurring problem in concurrent and distributed programming. We present a programming language with simple semantics and build-in support for consensus in the form of communicating transactions. We motivate the need…
We study the problem of executing an application represented by a precedence task graph on a parallel machine composed of standard computing cores and accelerators. Contrary to most existing approaches, we distinguish the allocation and the…
We propose Chunks and Tasks, a parallel programming model built on abstractions for both data and work. The application programmer specifies how data and work can be split into smaller pieces, chunks and tasks, respectively. The Chunks and…