Data-Mining Synthesised Schedulers for Hard Real-Time Systems

The analysis of hard real-time systems, traditionally performed using RMA/PCP or simulation, is nowadays also studied as a scheduler synthesis problem, where one automatically constructs a scheduler which can guarantee avoidance of deadlock and deadline-miss system states. Even though this approach has the potential for a finer control of a hard real-time system, using fewer resources and easily adapting to further quality aspects (memory/energy consumption, jitter minimisation, etc.), synthesised schedulers are usually extremely large and difficult to understand. Their big size is a consequence of their inherent precision, since they attempt to describe exactly the frontier among the safe and unsafe system states. It nevertheless hinders their application in practise, since it is extremely difficult to validate them or to use them for better understanding the behaviour of the system. In this paper, we show how one can adapt data-mining techniques to decrease the size of a synthesised scheduler and force its inherent structure to appear, thus giving the system designer a wealth of additional information for understanding and optimising the scheduler and the underlying system. We present, in particular, how it can be used for obtaining hints for a good task distribution to different processing units, for optimising the scheduler itself (sometimes even removing it altogether in a safe manner) and obtaining both per-task and per-system views of the schedulability of the system

Type Inference for Deadlock Detection in a Multithreaded Polymorphic Typed Assembly Language

We previously developed a polymorphic type system and a type checker for a multithreaded lock-based polymorphic typed assembly language (MIL) that ensures that well-typed programs do not encounter race conditions. This paper extends such work by taking into consideration deadlocks. The extended type system verifies that locks are acquired in the proper order. Towards this end we require a language with annotations that specify the locking order. Rather than asking the programmer (or the compiler's backend) to specifically annotate each newly introduced lock, we present an algorithm to infer the annotations. The result is a type checker whose input language is non-decorated as before, but that further checks that programs are exempt from deadlocks

Decentralized 3D Collision Avoidance for Multiple UAVs in Outdoor Environments

The use of multiple aerial vehicles for autonomous missions is turning into commonplace. In many of these applications, the Unmanned Aerial Vehicles (UAVs) have to cooperate and navigate in a shared airspace, becoming 3D collision avoidance a relevant issue. Outdoor scenarios impose additional challenges: (i) accurate positioning systems are costly; (ii) communication can be unreliable or delayed; and (iii) external conditions like wind gusts affect UAVs’ maneuverability. In this paper, we present 3D-SWAP, a decentralized algorithm for 3D collision avoidance with multiple UAVs. 3D-SWAP operates reactively without high computational requirements and allows UAVs to integrate measurements from their local sensors with positions of other teammates within communication range. We tested 3D-SWAP with our team of custom-designed UAVs. First, we used a Software-In-The-Loop simulator for system integration and evaluation. Second, we run field experiments with up to three UAVs in an outdoor scenario with uncontrolled conditions (i.e., noisy positioning systems, wind gusts, etc). We report our results and our procedures for this field experimentation.European Union’s Horizon 2020 research and innovation programme No 731667 (MULTIDRONE

To boldly go:an occam-π mission to engineer emergence

Future systems will be too complex to design and implement explicitly. Instead, we will have to learn to engineer complex behaviours indirectly: through the discovery and application of local rules of behaviour, applied to simple process components, from which desired behaviours predictably emerge through dynamic interactions between massive numbers of instances. This paper describes a process-oriented architecture for fine-grained concurrent systems that enables experiments with such indirect engineering. Examples are presented showing the differing complex behaviours that can arise from minor (non-linear) adjustments to low-level parameters, the difficulties in suppressing the emergence of unwanted (bad) behaviour, the unexpected relationships between apparently unrelated physical phenomena (shown up by their separate emergence from the same primordial process swamp) and the ability to explore and engineer completely new physics (such as force fields) by their emergence from low-level process interactions whose mechanisms can only be imagined, but not built, at the current time

Collision avoidance for persistent monitoring in multi-robot systems with intersecting trajectories

Persistent robot tasks such as monitoring and cleaning are concerned with controlling mobile robots to act in a changing environment in a way that guarantees that the uncertainty in the system (due to change and to the actions of the robot) remains bounded for all time. Prior work in persistent robot tasks considered only robot systems with collision-free paths that move following speed controllers. In this paper we describe a solution to multi-robot persistent monitoring, where robots have intersecting trajectories. We develop collision and deadlock avoidance algorithms that are based on stopping policies, and quantify the impact of the stopping times on the overall stability of the speed controllers.United States. Office of Naval Research. Multidisciplinary University Research Initiative (Award N00014-09-1-1051)National Science Foundation (U.S.). Graduate Research Fellowship Program (Award 0645960)Boeing Compan