38,750 research outputs found
Towards adaptive multi-robot systems: self-organization and self-adaptation
Dieser Beitrag ist mit Zustimmung des Rechteinhabers aufgrund einer (DFG geförderten) Allianz- bzw. Nationallizenz frei zugänglich.This publication is with permission of the rights owner freely accessible due to an Alliance licence and a national licence (funded by the DFG, German Research Foundation) respectively.The development of complex systems ensembles that operate in uncertain environments is a major challenge. The reason for this is that system designers are not able to fully specify the system during specification and development and before it is being deployed. Natural swarm systems enjoy similar characteristics, yet, being self-adaptive and being able to self-organize, these systems show beneficial emergent behaviour. Similar concepts can be extremely helpful for artificial systems, especially when it comes to multi-robot scenarios, which require such solution in order to be applicable to highly uncertain real world application. In this article, we present a comprehensive overview over state-of-the-art solutions in emergent systems, self-organization, self-adaptation, and robotics. We discuss these approaches in the light of a framework for multi-robot systems and identify similarities, differences missing links and open gaps that have to be addressed in order to make this framework possible
Markov Decision Processes with Applications in Wireless Sensor Networks: A Survey
Wireless sensor networks (WSNs) consist of autonomous and resource-limited
devices. The devices cooperate to monitor one or more physical phenomena within
an area of interest. WSNs operate as stochastic systems because of randomness
in the monitored environments. For long service time and low maintenance cost,
WSNs require adaptive and robust methods to address data exchange, topology
formulation, resource and power optimization, sensing coverage and object
detection, and security challenges. In these problems, sensor nodes are to make
optimized decisions from a set of accessible strategies to achieve design
goals. This survey reviews numerous applications of the Markov decision process
(MDP) framework, a powerful decision-making tool to develop adaptive algorithms
and protocols for WSNs. Furthermore, various solution methods are discussed and
compared to serve as a guide for using MDPs in WSNs
The Simulation Model Partitioning Problem: an Adaptive Solution Based on Self-Clustering (Extended Version)
This paper is about partitioning in parallel and distributed simulation. That
means decomposing the simulation model into a numberof components and to
properly allocate them on the execution units. An adaptive solution based on
self-clustering, that considers both communication reduction and computational
load-balancing, is proposed. The implementation of the proposed mechanism is
tested using a simulation model that is challenging both in terms of structure
and dynamicity. Various configurations of the simulation model and the
execution environment have been considered. The obtained performance results
are analyzed using a reference cost model. The results demonstrate that the
proposed approach is promising and that it can reduce the simulation execution
time in both parallel and distributed architectures
From Social Simulation to Integrative System Design
As the recent financial crisis showed, today there is a strong need to gain
"ecological perspective" of all relevant interactions in
socio-economic-techno-environmental systems. For this, we suggested to set-up a
network of Centers for integrative systems design, which shall be able to run
all potentially relevant scenarios, identify causality chains, explore feedback
and cascading effects for a number of model variants, and determine the
reliability of their implications (given the validity of the underlying
models). They will be able to detect possible negative side effect of policy
decisions, before they occur. The Centers belonging to this network of
Integrative Systems Design Centers would be focused on a particular field, but
they would be part of an attempt to eventually cover all relevant areas of
society and economy and integrate them within a "Living Earth Simulator". The
results of all research activities of such Centers would be turned into
informative input for political Decision Arenas. For example, Crisis
Observatories (for financial instabilities, shortages of resources,
environmental change, conflict, spreading of diseases, etc.) would be connected
with such Decision Arenas for the purpose of visualization, in order to make
complex interdependencies understandable to scientists, decision-makers, and
the general public.Comment: 34 pages, Visioneer White Paper, see http://www.visioneer.ethz.c
Separation Framework: An Enabler for Cooperative and D2D Communication for Future 5G Networks
Soaring capacity and coverage demands dictate that future cellular networks
need to soon migrate towards ultra-dense networks. However, network
densification comes with a host of challenges that include compromised energy
efficiency, complex interference management, cumbersome mobility management,
burdensome signaling overheads and higher backhaul costs. Interestingly, most
of the problems, that beleaguer network densification, stem from legacy
networks' one common feature i.e., tight coupling between the control and data
planes regardless of their degree of heterogeneity and cell density.
Consequently, in wake of 5G, control and data planes separation architecture
(SARC) has recently been conceived as a promising paradigm that has potential
to address most of aforementioned challenges. In this article, we review
various proposals that have been presented in literature so far to enable SARC.
More specifically, we analyze how and to what degree various SARC proposals
address the four main challenges in network densification namely: energy
efficiency, system level capacity maximization, interference management and
mobility management. We then focus on two salient features of future cellular
networks that have not yet been adapted in legacy networks at wide scale and
thus remain a hallmark of 5G, i.e., coordinated multipoint (CoMP), and
device-to-device (D2D) communications. After providing necessary background on
CoMP and D2D, we analyze how SARC can particularly act as a major enabler for
CoMP and D2D in context of 5G. This article thus serves as both a tutorial as
well as an up to date survey on SARC, CoMP and D2D. Most importantly, the
article provides an extensive outlook of challenges and opportunities that lie
at the crossroads of these three mutually entangled emerging technologies.Comment: 28 pages, 11 figures, IEEE Communications Surveys & Tutorials 201
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