31,675 research outputs found
Route Swarm: Wireless Network Optimization through Mobility
In this paper, we demonstrate a novel hybrid architecture for coordinating
networked robots in sensing and information routing applications. The proposed
INformation and Sensing driven PhysIcally REconfigurable robotic network
(INSPIRE), consists of a Physical Control Plane (PCP) which commands agent
position, and an Information Control Plane (ICP) which regulates information
flow towards communication/sensing objectives. We describe an instantiation
where a mobile robotic network is dynamically reconfigured to ensure high
quality routes between static wireless nodes, which act as source/destination
pairs for information flow. The ICP commands the robots towards evenly
distributed inter-flow allocations, with intra-flow configurations that
maximize route quality. The PCP then guides the robots via potential-based
control to reconfigure according to ICP commands. This formulation, deemed
Route Swarm, decouples information flow and physical control, generating a
feedback between routing and sensing needs and robotic configuration. We
demonstrate our propositions through simulation under a realistic wireless
network regime.Comment: 9 pages, 4 figures, submitted to the IEEE International Conference on
Intelligent Robots and Systems (IROS) 201
Implicit Decomposition for Write-Efficient Connectivity Algorithms
The future of main memory appears to lie in the direction of new technologies
that provide strong capacity-to-performance ratios, but have write operations
that are much more expensive than reads in terms of latency, bandwidth, and
energy. Motivated by this trend, we propose sequential and parallel algorithms
to solve graph connectivity problems using significantly fewer writes than
conventional algorithms. Our primary algorithmic tool is the construction of an
-sized "implicit decomposition" of a bounded-degree graph on
nodes, which combined with read-only access to enables fast answers to
connectivity and biconnectivity queries on . The construction breaks the
linear-write "barrier", resulting in costs that are asymptotically lower than
conventional algorithms while adding only a modest cost to querying time. For
general non-sparse graphs on edges, we also provide the first writes
and operations parallel algorithms for connectivity and biconnectivity.
These algorithms provide insight into how applications can efficiently process
computations on large graphs in systems with read-write asymmetry
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