Fast multipole networks

Two prerequisites for robotic multiagent systems are mobility and communication. Fast multipole networks (FMNs) enable both ends within a unified framework. FMNs can be organized very efficiently in a distributed way from local information and are ideally suited for motion planning using artificial potentials. We compare FMNs to conventional communication topologies, and find that FMNs offer competitive communication performance (including higher network efficiency per edge at marginal energy cost) in addition to advantages for mobility

Nonholonomic motion planning: steering using sinusoids

Methods for steering systems with nonholonomic constraints between arbitrary configurations are investigated. Suboptimal trajectories are derived for systems that are not in canonical form. Systems in which it takes more than one level of bracketing to achieve controllability are considered. The trajectories use sinusoids at integrally related frequencies to achieve motion at a given bracketing level. A class of systems that can be steered using sinusoids (claimed systems) is defined. Conditions under which a class of two-input systems can be converted into this form are given

BaseFs - Basically Acailable, Soft State, Eventually Consistent Filesystem for Cluster Management

A peer-to-peer distributed filesystem for community cloud management. https://github.com/glic3rinu/basef

Control and Optimization for Aerospace Systems with Stochastic Disturbances, Uncertainties, and Constraints

The topic of this dissertation is the control and optimization of aerospace systems under the influence of stochastic disturbances, uncertainties, and subject to chance constraints. This problem is motivated by the uncertain operating environments of many aerospace systems, and the ever-present push to extract greater performance from these systems while maintaining safety. Explicitly accounting for the stochastic disturbances and uncertainties in the constrained control design confers the ability to assign the probability of constraint satisfaction depending on the level of risk that is deemed acceptable and allows for the possibility of theoretical constraint satisfaction guarantees. Along these lines, this dissertation presents novel contributions addressing four different problems: 1) chance-constrained path planning for small unmanned aerial vehicles in urban environments, 2) chance-constrained spacecraft relative motion planning in low-Earth orbit, 3) stochastic optimization of suborbital launch operations, and 4) nonlinear model predictive control for tracking near rectilinear halo orbits and a proposed stochastic extension. For the first problem, existing dynamic and informed rapidly-expanding random trees algorithms are combined with a novel quadratic programming-based collision detection algorithm to enable computationally efficient, chance-constrained path planning. For the second problem, a previously proposed constrained relative motion approach based on chained positively invariant sets is extended in this dissertation to the case where the spacecraft dynamics are controlled using output feedback on noisy measurements and are subject to stochastic disturbances. Connectivity between nodes is determined through the use of chance-constrained admissible sets, guaranteeing that constraints are met with a specified probability. For the third problem, a novel approach to suborbital launch operations is presented. It utilizes linear covariance propagation and stochastic clustering optimization to create an effective software-only method for decreasing the probability of a dangerous landing with no physical changes to the vehicle and only minimal changes to its flight controls software. For the fourth problem, the use of suboptimal nonlinear model predictive control (NMPC) coupled with low-thrust actuators is considered for station-keeping on near rectilinear halo orbits. The nonlinear optimization problems in NMPC are solved with time-distributed sequential quadratic programming techniques utilizing the FBstab algorithm. A stochastic extension for this problem is also proposed. The results are illustrated using detailed numerical simulations.PHDAerospace EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/162992/1/awbe_1.pd

Improving Dependability of Networks with Penalty and Revocation Mechanisms

Both malicious and non-malicious faults can dismantle computer networks. Thus, mitigating faults at various layers is essential in ensuring efficient and fair network resource utilization. In this thesis we take a step in this direction and study several ways to deal with faults by means of penalties and revocation mechanisms in networks that are lacking a centralized coordination point, either because of their scale or design. Compromised nodes can pose a serious threat to infrastructure, end-hosts and services. Such malicious elements can undermine the availability and fairness of networked systems. To deal with such nodes, we design and analyze protocols enabling their removal from the network in a fast and a secure way. We design these protocols for two different environments. In the former setting, we assume that there are multiple, but independent trusted points in the network which coordinate other nodes in the network. In the latter, we assume that all nodes play equal roles in the network and thus need to cooperate to carry out common functionality. We analyze these solutions and discuss possible deployment scenarios. Next we turn our attention to wireless edge networks. In this context, some nodes, without being malicious, can still behave in an unfair manner. To deal with the situation, we propose several self-penalty mechanisms. We implement the proposed protocols employing a commodity hardware and conduct experiments in real-world environments. The analysis of data collected in several measurement rounds revealed improvements in terms of higher fairness and throughput. We corroborate the results with simulations and an analytic model. And finally, we discuss how to measure fairness in dynamic settings, where nodes can have heterogeneous resource demands