Multi-Agent Pathfinding in Mixed Discrete-Continuous Time and Space

In the multi-agent pathfinding (MAPF) problem, agents must move from their current locations to their individual destinations while avoiding collisions. Ideally, agents move to their destinations as quickly and efficiently as possible. MAPF has many real-world applications such as navigation, warehouse automation, package delivery and games. Coordination of agents is necessary in order to avoid conflicts, however, it can be very computationally expensive to find mutually conflict-free paths for multiple agents – especially as the number of agents is increased. Existing state-ofthe- art algorithms have been focused on simplified problems on grids where agents have no shape or volume, and each action executed by the agents have the same duration, resulting in simplified collision detection and synchronous, timed execution. In the real world agents have a shape, and usually execute actions with variable duration. This thesis re-formulates the MAPF problem definition for continuous actions, designates specific techniques for continuous-time collision detection, re-formulates two popular algorithms for continuous actions and formulates a new algorithm called Conflict-Based Increasing Cost Search (CBICS) for continuous actions

An Active-Library Based Investigation into the Performance Optimisation of Linear Algebra and the Finite Element Method

In this thesis, I explore an approach called "active libraries". These are libraries that take part in their own optimisation, enabling both high-performance code and the presentation of intuitive abstractions. I investigate the use of active libraries in two domains. Firstly, dense and sparse linear algebra, particularly, the solution of linear systems of equations. Secondly, the specification and solution of finite element problems. Extending my earlier (MEng) thesis work, I describe the modifications to my linear algebra library "Desola" required to perform sparse-matrix code generation. I show that optimisations easily applied in the dense case using code-transformation must be applied at a higher level of abstraction in the sparse case. I present performance results for sparse linear system solvers generated using Desola and compare against an implementation using the Intel Math Kernel Library. I also present improved dense linear-algebra performance results. Next, I explore the active-library approach by developing a finite element library that captures runtime representations of basis functions, variational forms and sequences of operations between discretised operators and fields. Using captured representations of variational forms and basis functions, I demonstrate optimisations to cell-local integral assembly that this approach enables, and compare against the state of the art. As part of my work on optimising local assembly, I extend the work of Hosangadi et al. on common sub-expression elimination and factorisation of polynomials. I improve the weight function presented by Hosangadi et al., increasing the number of factorisations found. I present an implementation of an optimised branch-and-bound algorithm inspired by reformulating the original matrix-covering problem as a maximal graph biclique search problem. I evaluate the algorithm's effectiveness on the expressions generated by our finite element solver

Security of Ubiquitous Computing Systems

The chapters in this open access book arise out of the EU Cost Action project Cryptacus, the objective of which was to improve and adapt existent cryptanalysis methodologies and tools to the ubiquitous computing framework. The cryptanalysis implemented lies along four axes: cryptographic models, cryptanalysis of building blocks, hardware and software security engineering, and security assessment of real-world systems. The authors are top-class researchers in security and cryptography, and the contributions are of value to researchers and practitioners in these domains. This book is open access under a CC BY license

Pulse propagation, graph cover, and packet forwarding

We study distributed systems, with a particular focus on graph problems and fault tolerance. Fault-tolerance in a microprocessor or even System-on-Chip can be improved by using a fault-tolerant pulse propagation design. The existing design TRIX achieves this goal by being a distributed system consisting of very simple nodes. We show that even in the typical mode of operation without faults, TRIX performs significantly better than a regular wire or clock tree: Statistical evaluation of our simulated experiments show that we achieve a skew with standard deviation of O(log log H), where H is the height of the TRIX grid. The distance-r generalization of classic graph problems can give us insights on how distance affects hardness of a problem. For the distance-r dominating set problem, we present both an algorithmic upper and unconditional lower bound for any graph class with certain high-girth and sparseness criteria. In particular, our algorithm achieves a O(r·f(r))-approximation in time O(r), where f is the expansion function, which correlates with density. For constant r, this implies a constant approximation factor, in constant time. We also show that no algorithm can achieve a (2r + 1 − δ)-approximation for any δ > 0 in time O(r), not even on the class of cycles of girth at least 5r. Furthermore, we extend the algorithm to related graph cover problems and even to a different execution model. Furthermore, we investigate the problem of packet forwarding, which addresses the question of how and when best to forward packets in a distributed system. These packets are injected by an adversary. We build on the existing algorithm OED to handle more than a single destination. In particular, we show that buffers of size O(log n) are sufficient for this algorithm, in contrast to O(n) for the naive approach.Wir untersuchen verteilte Systeme, mit besonderem Augenmerk auf Graphenprobleme und Fehlertoleranz. Fehlertoleranz auf einem System-on-Chip (SoC) kann durch eine fehlertolerante Puls- Weiterleitung verbessert werden. Das bestehende Puls-Weiterleitungs-System TRIX toleriert Fehler indem es ein verteiltes System ist das nur aus sehr einfachen Knoten besteht. Wir zeigen dass selbst im typischen, fehlerfreien Fall TRIX sich weitaus besser verhält als man naiverweise erwarten würde: Statistische Analysen unserer simulierten Experimente zeigen, dass der Verzögerungs-Unterschied eine Standardabweichung von lediglich O(log logH) erreicht, wobei H die Höhe des TRIX-Netzes ist. Das Generalisieren einiger klassischer Graphen-Probleme auf Distanz r kann uns neue Erkenntnisse bescheren über den Zusammenhang zwischen Distanz und Komplexität eines Problems. Für das Problem der dominierenden Mengen auf Distanz r zeigen wir sowohl eine algorithmische obere Schranke als auch eine bedingungsfreie untere Schranke für jede Klasse von Graphen, die bestimmte Eigenschaften an Umfang und Dichte erfüllt. Konkret erreicht unser Algorithmus in Zeit O(r) eine Annäherungsgüte von O(r · f(r)). Für konstante r bedeutet das, dass der Algorithmus in konstanter Zeit eine Annäherung konstanter Güte erreicht. Weiterhin zeigen wir, dass kein Algorithmus in Zeit O(r) eine Annäherungsgüte besser als 2r + 1 erreichen kann, nicht einmal in der Klasse der Kreis-Graphen von Umfang mindestens 5r. Weiterhin haben wir das Paketweiterleitungs-Problem untersucht, welches sich mit der Frage beschäftigt, wann genau Pakete in einem verteilten System idealerweise weitergeleitetwerden sollten. Die Paketewerden dabei von einem Gegenspieler eingefügt. Wir bauen auf dem existierenden Algorithmus OED auf, um mehr als ein Paket-Ziel beliefern zu können. Dadurch zeigen wir, dass Paket-Speicher der Größe O(log n) für dieses Problem ausreichen, im Gegensatz zu den Paket-Speichern der Größe O(n) die für einen naiven Ansatz nötig wären

LIPIcs, Volume 251, ITCS 2023, Complete Volume

LIPIcs, Volume 251, ITCS 2023, Complete Volum

An Analysis of the Effect of Community Structure on SAT Solver Performance

Despite enormous improvements in Boolean SATisfiability solver performance over the last decade, it is still unclear why specific input formula are slow to solve, when other similarly specified formula execute more quickly. This work explores the relationship between the community structure of a SAT formula and its execution time on several state-of-the-art solvers. We explore the analysis of this data from a number of directions; first, we explore the relationship between the well known clause-variable ratio result, and com- munity structure in randomly generated instances. Second, we perform a standard linear regression on data obtained from the 2013 SAT competition. Third, we present a visualisation tool and data repository for viewing the structure of a SAT formula. Fourth, we explore the effect of hardware con- straints on the solution time of instances across various machines. Finally, we explore survival analysis, a technique that is new to the field of Boolean SATisfiability. By collating the results from each of these experiments, we have determined that the community structure is critical in determining the solution time of a SAT formula, more important than the clause-variable ratio of the formula. While this work is not a complete explanation of the varying solution time of SAT formulae, it has provided us with significant insight for further research to answer the question: why different similarly specified formula have such different solution times?4 month

Security of Ubiquitous Computing Systems

The chapters in this open access book arise out of the EU Cost Action project Cryptacus, the objective of which was to improve and adapt existent cryptanalysis methodologies and tools to the ubiquitous computing framework. The cryptanalysis implemented lies along four axes: cryptographic models, cryptanalysis of building blocks, hardware and software security engineering, and security assessment of real-world systems. The authors are top-class researchers in security and cryptography, and the contributions are of value to researchers and practitioners in these domains. This book is open access under a CC BY license

Solving hard subgraph problems in parallel

This thesis improves the state of the art in exact, practical algorithms for finding subgraphs. We study maximum clique, subgraph isomorphism, and maximum common subgraph problems. These are widely applicable: within computing science, subgraph problems arise in document clustering, computer vision, the design of communication protocols, model checking, compiler code generation, malware detection, cryptography, and robotics; beyond, applications occur in biochemistry, electrical engineering, mathematics, law enforcement, fraud detection, fault diagnosis, manufacturing, and sociology. We therefore consider both the ``pure'' forms of these problems, and variants with labels and other domain-specific constraints. Although subgraph-finding should theoretically be hard, the constraint-based search algorithms we discuss can easily solve real-world instances involving graphs with thousands of vertices, and millions of edges. We therefore ask: is it possible to generate ``really hard'' instances for these problems, and if so, what can we learn? By extending research into combinatorial phase transition phenomena, we develop a better understanding of branching heuristics, as well as highlighting a serious flaw in the design of graph database systems. This thesis also demonstrates how to exploit two of the kinds of parallelism offered by current computer hardware. Bit parallelism allows us to carry out operations on whole sets of vertices in a single instruction---this is largely routine. Thread parallelism, to make use of the multiple cores offered by all modern processors, is more complex. We suggest three desirable performance characteristics that we would like when introducing thread parallelism: lack of risk (parallel cannot be exponentially slower than sequential), scalability (adding more processing cores cannot make runtimes worse), and reproducibility (the same instance on the same hardware will take roughly the same time every time it is run). We then detail the difficulties in guaranteeing these characteristics when using modern algorithmic techniques. Besides ensuring that parallelism cannot make things worse, we also increase the likelihood of it making things better. We compare randomised work stealing to new tailored strategies, and perform experiments to identify the factors contributing to good speedups. We show that whilst load balancing is difficult, the primary factor influencing the results is the interaction between branching heuristics and parallelism. By using parallelism to explicitly offset the commitment made to weak early branching choices, we obtain parallel subgraph solvers which are substantially and consistently better than the best sequential algorithms

A Salad of Block Ciphers

This book is a survey on the state of the art in block cipher design and analysis. It is work in progress, and it has been for the good part of the last three years -- sadly, for various reasons no significant change has been made during the last twelve months. However, it is also in a self-contained, useable, and relatively polished state, and for this reason I have decided to release this \textit{snapshot} onto the public as a service to the cryptographic community, both in order to obtain feedback, and also as a means to give something back to the community from which I have learned much. At some point I will produce a final version -- whatever being a ``final version\u27\u27 means in the constantly evolving field of block cipher design -- and I will publish it. In the meantime I hope the material contained here will be useful to other people