20,470 research outputs found
Time-optimal Coordination of Mobile Robots along Specified Paths
In this paper, we address the problem of time-optimal coordination of mobile
robots under kinodynamic constraints along specified paths. We propose a novel
approach based on time discretization that leads to a mixed-integer linear
programming (MILP) formulation. This problem can be solved using
general-purpose MILP solvers in a reasonable time, resulting in a
resolution-optimal solution. Moreover, unlike previous work found in the
literature, our formulation allows an exact linear modeling (up to the
discretization resolution) of second-order dynamic constraints. Extensive
simulations are performed to demonstrate the effectiveness of our approach.Comment: Published in 2016 IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS
On Characterizing the Data Access Complexity of Programs
Technology trends will cause data movement to account for the majority of
energy expenditure and execution time on emerging computers. Therefore,
computational complexity will no longer be a sufficient metric for comparing
algorithms, and a fundamental characterization of data access complexity will
be increasingly important. The problem of developing lower bounds for data
access complexity has been modeled using the formalism of Hong & Kung's
red/blue pebble game for computational directed acyclic graphs (CDAGs).
However, previously developed approaches to lower bounds analysis for the
red/blue pebble game are very limited in effectiveness when applied to CDAGs of
real programs, with computations comprised of multiple sub-computations with
differing DAG structure. We address this problem by developing an approach for
effectively composing lower bounds based on graph decomposition. We also
develop a static analysis algorithm to derive the asymptotic data-access lower
bounds of programs, as a function of the problem size and cache size
12th International Workshop on Termination (WST 2012) : WST 2012, February 19–23, 2012, Obergurgl, Austria / ed. by Georg Moser
This volume contains the proceedings of the 12th International Workshop on Termination (WST 2012), to be held February 19–23, 2012 in Obergurgl, Austria. The goal of the Workshop on Termination is to be a venue for presentation and discussion of all topics in and around termination. In this way, the workshop tries to bridge the gaps between different communities interested and active in research in and around termination. The 12th International Workshop on Termination in Obergurgl continues the successful workshops held in St. Andrews (1993), La Bresse (1995), Ede (1997), Dagstuhl (1999), Utrecht (2001), Valencia (2003), Aachen (2004), Seattle (2006), Paris (2007), Leipzig (2009), and Edinburgh (2010). The 12th International Workshop on Termination did welcome contributions on all aspects of termination and complexity analysis. Contributions from the imperative, constraint, functional, and logic programming communities, and papers investigating applications of complexity or termination (for example in program transformation or theorem proving) were particularly welcome. We did receive 18 submissions which all were accepted. Each paper was assigned two reviewers. In addition to these 18 contributed talks, WST 2012, hosts three invited talks by Alexander Krauss, Martin Hofmann, and Fausto Spoto
Causality and Temporal Dependencies in the Design of Fault Management Systems
Reasoning about causes and effects naturally arises in the engineering of
safety-critical systems. A classical example is Fault Tree Analysis, a
deductive technique used for system safety assessment, whereby an undesired
state is reduced to the set of its immediate causes. The design of fault
management systems also requires reasoning on causality relationships. In
particular, a fail-operational system needs to ensure timely detection and
identification of faults, i.e. recognize the occurrence of run-time faults
through their observable effects on the system. Even more complex scenarios
arise when multiple faults are involved and may interact in subtle ways.
In this work, we propose a formal approach to fault management for complex
systems. We first introduce the notions of fault tree and minimal cut sets. We
then present a formal framework for the specification and analysis of
diagnosability, and for the design of fault detection and identification (FDI)
components. Finally, we review recent advances in fault propagation analysis,
based on the Timed Failure Propagation Graphs (TFPG) formalism.Comment: In Proceedings CREST 2017, arXiv:1710.0277
On Characterizing the Data Movement Complexity of Computational DAGs for Parallel Execution
Technology trends are making the cost of data movement increasingly dominant,
both in terms of energy and time, over the cost of performing arithmetic
operations in computer systems. The fundamental ratio of aggregate data
movement bandwidth to the total computational power (also referred to the
machine balance parameter) in parallel computer systems is decreasing. It is
there- fore of considerable importance to characterize the inherent data
movement requirements of parallel algorithms, so that the minimal architectural
balance parameters required to support it on future systems can be well
understood. In this paper, we develop an extension of the well-known red-blue
pebble game to develop lower bounds on the data movement complexity for the
parallel execution of computational directed acyclic graphs (CDAGs) on parallel
systems. We model multi-node multi-core parallel systems, with the total
physical memory distributed across the nodes (that are connected through some
interconnection network) and in a multi-level shared cache hierarchy for
processors within a node. We also develop new techniques for lower bound
characterization of non-homogeneous CDAGs. We demonstrate the use of the
methodology by analyzing the CDAGs of several numerical algorithms, to develop
lower bounds on data movement for their parallel execution
Benchmarks for Parity Games (extended version)
We propose a benchmark suite for parity games that includes all benchmarks
that have been used in the literature, and make it available online. We give an
overview of the parity games, including a description of how they have been
generated. We also describe structural properties of parity games, and using
these properties we show that our benchmarks are representative. With this work
we provide a starting point for further experimentation with parity games.Comment: The corresponding tool and benchmarks are available from
https://github.com/jkeiren/paritygame-generator. This is an extended version
of the paper that has been accepted for FSEN 201
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