222,176 research outputs found
A Survey on Global LiDAR Localization
Knowledge about the own pose is key for all mobile robot applications. Thus
pose estimation is part of the core functionalities of mobile robots. In the
last two decades, LiDAR scanners have become a standard sensor for robot
localization and mapping. This article surveys recent progress and advances in
LiDAR-based global localization. We start with the problem formulation and
explore the application scope. We then present the methodology review covering
various global localization topics, such as maps, descriptor extraction, and
consistency checks. The contents are organized under three themes. The first is
the combination of global place retrieval and local pose estimation. Then the
second theme is upgrading single-shot measurement to sequential ones for
sequential global localization. The third theme is extending single-robot
global localization to cross-robot localization on multi-robot systems. We end
this survey with a discussion of open challenges and promising directions on
global lidar localization
Fisheye Consistency: Keeping Data in Synch in a Georeplicated World
Over the last thirty years, numerous consistency conditions for replicated
data have been proposed and implemented. Popular examples of such conditions
include linearizability (or atomicity), sequential consistency, causal
consistency, and eventual consistency. These consistency conditions are usually
defined independently from the computing entities (nodes) that manipulate the
replicated data; i.e., they do not take into account how computing entities
might be linked to one another, or geographically distributed. To address this
lack, as a first contribution, this paper introduces the notion of proximity
graph between computing nodes. If two nodes are connected in this graph, their
operations must satisfy a strong consistency condition, while the operations
invoked by other nodes are allowed to satisfy a weaker condition. The second
contribution is the use of such a graph to provide a generic approach to the
hybridization of data consistency conditions into the same system. We
illustrate this approach on sequential consistency and causal consistency, and
present a model in which all data operations are causally consistent, while
operations by neighboring processes in the proximity graph are sequentially
consistent. The third contribution of the paper is the design and the proof of
a distributed algorithm based on this proximity graph, which combines
sequential consistency and causal consistency (the resulting condition is
called fisheye consistency). In doing so the paper not only extends the domain
of consistency conditions, but provides a generic provably correct solution of
direct relevance to modern georeplicated systems
Update Consistency for Wait-free Concurrent Objects
In large scale systems such as the Internet, replicating data is an essential
feature in order to provide availability and fault-tolerance. Attiya and Welch
proved that using strong consistency criteria such as atomicity is costly as
each operation may need an execution time linear with the latency of the
communication network. Weaker consistency criteria like causal consistency and
PRAM consistency do not ensure convergence. The different replicas are not
guaranteed to converge towards a unique state. Eventual consistency guarantees
that all replicas eventually converge when the participants stop updating.
However, it fails to fully specify the semantics of the operations on shared
objects and requires additional non-intuitive and error-prone distributed
specification techniques. This paper introduces and formalizes a new
consistency criterion, called update consistency, that requires the state of a
replicated object to be consistent with a linearization of all the updates. In
other words, whereas atomicity imposes a linearization of all of the
operations, this criterion imposes this only on updates. Consequently some read
operations may return out-dated values. Update consistency is stronger than
eventual consistency, so we can replace eventually consistent objects with
update consistent ones in any program. Finally, we prove that update
consistency is universal, in the sense that any object can be implemented under
this criterion in a distributed system where any number of nodes may crash.Comment: appears in International Parallel and Distributed Processing
Symposium, May 2015, Hyderabad, Indi
Causal Consistency: Beyond Memory
In distributed systems where strong consistency is costly when not
impossible, causal consistency provides a valuable abstraction to represent
program executions as partial orders. In addition to the sequential program
order of each computing entity, causal order also contains the semantic links
between the events that affect the shared objects -- messages emission and
reception in a communication channel , reads and writes on a shared register.
Usual approaches based on semantic links are very difficult to adapt to other
data types such as queues or counters because they require a specific analysis
of causal dependencies for each data type. This paper presents a new approach
to define causal consistency for any abstract data type based on sequential
specifications. It explores, formalizes and studies the differences between
three variations of causal consistency and highlights them in the light of
PRAM, eventual consistency and sequential consistency: weak causal consistency,
that captures the notion of causality preservation when focusing on convergence
; causal convergence that mixes weak causal consistency and convergence; and
causal consistency, that coincides with causal memory when applied to shared
memory.Comment: 21st ACM SIGPLAN Symposium on Principles and Practice of Parallel
Programming, Mar 2016, Barcelone, Spai
GraphLab: A New Framework for Parallel Machine Learning
Designing and implementing efficient, provably correct parallel machine
learning (ML) algorithms is challenging. Existing high-level parallel
abstractions like MapReduce are insufficiently expressive while low-level tools
like MPI and Pthreads leave ML experts repeatedly solving the same design
challenges. By targeting common patterns in ML, we developed GraphLab, which
improves upon abstractions like MapReduce by compactly expressing asynchronous
iterative algorithms with sparse computational dependencies while ensuring data
consistency and achieving a high degree of parallel performance. We demonstrate
the expressiveness of the GraphLab framework by designing and implementing
parallel versions of belief propagation, Gibbs sampling, Co-EM, Lasso and
Compressed Sensing. We show that using GraphLab we can achieve excellent
parallel performance on large scale real-world problems
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