Scalable propagation of continuous actions in peer-to-peer-based massively multiuser virtual environments : the continuous events approach

Peer-to-Peer-based Massively Multiuser Virtual Environments (P2P-MMVEs) provide a shared virtual environment for up to several thousand simultaneous users based on a peer-to-peer network. Users interact in the virtual environment by controlling virtual representations of themselves, so-called avatars. Their computers communicate with each other via a wide area network such as the Internet to provide the shared virtual environment. A crucial challenge for P2P-MMVEs is propagating state changes of objects in the virtual environment between a large number of user computers in a scalable way. Objects may change their state on one of the computers, e.g. their position. Information about a state change has to be propagated via the peer-to-peer network to computers of other users whose avatars are able to perceive the object. Optimization algorithms for a scalable propagation of state changes are needed because of the very large number of users and the typically limited bandwidth of their Internet connections. This thesis describes an approach that optimizes the propagation of state changes caused by continuous actions. Continuous actions lead to multiple subsequent state changes over a given period of time. Instead of propagating each subsequent state change caused by continuous actions via the network, the approach propagates descriptions of the actions included in so-called continuous events. Based on the descriptions, the subsequent state changes are calculated and applied over time on each user's computer. Continuous events contain information about (1) the timing of calculations, (2) the spatial extent of the influence of the continuous action in the virtual environment over time and (3) the effect of the continuous action on influenced objects over time. The propagation and management of continuous events is performed based on the spatial publish subscribe communication model. Each user computer declares interest in a certain space in the virtual environment. If the space intersects with the spatial extent of the influence of a continuous event, the particular computer is provided with the continuous event. This thesis describes the basic concept of continuous events, presents a system architecture for support of continuous events in the context of a given target system model for P2P-MMVEs, and evaluates the continuous events approach based on a prototypical implementation of the system architecture

A Systematic Mapping Study of MMOG Backend Architectures

The advent of utility computing has revolutionized almost every sector of traditional software development. Especially commercial cloud computing services, pioneered by the likes of Amazon, Google and Microsoft, have provided an unprecedented opportunity for the fast and sustainable development of complex distributed systems. Nevertheless, existing models and tools aim primarily for systems where resource usage—by humans and bots alike—is logically and physically quite disperse resulting in a low likelihood of conflicting resource access. However, a number of resource-intensive applications, such as Massively Multiplayer Online Games (MMOGs) and large-scale simulations introduce a requirement for a very large common state with many actors accessing it simultaneously and thus a high likelihood of conflicting resource access. This paper presents a systematic mapping study of the state-of-the-art in software technology aiming explicitly to support the development of MMOGs, a class of large-scale, resource-intensive software systems.By examining the main focus of a diverse set of related publications, we identify a list of criteria that are important for MMOG development. Then, we categorize the selected studies based on the inferred criteria in order to compare their approach, unveil the challenges faced in each of them and reveal research trends that might be present. Finally we attempt to identify research directions which appear promising for enabling the use of standardized technology for this class of systems

A Systematic Mapping Study of MMOG Backend Architectures

The advent of utility computing has revolutionized almost every sector of traditional software development. Especially commercial cloud computing services, pioneered by the likes of Amazon, Google and Microsoft, have provided an unprecedented opportunity for the fast and sustainable development of complex distributed systems. Nevertheless, existing models and tools aim primarily for systems where resource usage—by humans and bots alike—is logically and physically quite disperse resulting in a low likelihood of conflicting resource access. However, a number of resource-intensive applications, such as Massively Multiplayer Online Games (MMOGs) and large-scale simulations introduce a requirement for a very large common state with many actors accessing it simultaneously and thus a high likelihood of conflicting resource access. This paper presents a systematic mapping study of the state-of-the-art in software technology aiming explicitly to support the development of MMOGs, a class of large-scale, resource-intensive software systems.By examining the main focus of a diverse set of related publications, we identify a list of criteria that are important for MMOG development. Then, we categorize the selected studies based on the inferred criteria in order to compare their approach, unveil the challenges faced in each of them and reveal research trends that might be present. Finally we attempt to identify research directions which appear promising for enabling the use of standardized technology for this class of systems

3D Virtual Worlds and the Metaverse: Current Status and Future Possibilities

Moving from a set of independent virtual worlds to an integrated network of 3D virtual worlds or Metaverse rests on progress in four areas: immersive realism, ubiquity of access and identity, interoperability, and scalability. For each area, the current status and needed developments in order to achieve a functional Metaverse are described. Factors that support the formation of a viable Metaverse, such as institutional and popular interest and ongoing improvements in hardware performance, and factors that constrain the achievement of this goal, including limits in computational methods and unrealized collaboration among virtual world stakeholders and developers, are also considered

Enhancing trustability in MMOGs environments

Massively Multiplayer Online Games (MMOGs; e.g., World of Warcraft), virtual worlds (VW; e.g., Second Life), social networks (e.g., Facebook) strongly demand for more autonomic, security, and trust mechanisms in a way similar to humans do in the real life world. As known, this is a difficult matter because trusting in humans and organizations depends on the perception and experience of each individual, which is difficult to quantify or measure. In fact, these societal environments lack trust mechanisms similar to those involved in humans-to-human interactions. Besides, interactions mediated by compute devices are constantly evolving, requiring trust mechanisms that keep the pace with the developments and assess risk situations. In VW/MMOGs, it is widely recognized that users develop trust relationships from their in-world interactions with others. However, these trust relationships end up not being represented in the data structures (or databases) of such virtual worlds, though they sometimes appear associated to reputation and recommendation systems. In addition, as far as we know, the user is not provided with a personal trust tool to sustain his/her decision making while he/she interacts with other users in the virtual or game world. In order to solve this problem, as well as those mentioned above, we propose herein a formal representation of these personal trust relationships, which are based on avataravatar interactions. The leading idea is to provide each avatar-impersonated player with a personal trust tool that follows a distributed trust model, i.e., the trust data is distributed over the societal network of a given VW/MMOG. Representing, manipulating, and inferring trust from the user/player point of view certainly is a grand challenge. When someone meets an unknown individual, the question is “Can I trust him/her or not?”. It is clear that this requires the user to have access to a representation of trust about others, but, unless we are using an open source VW/MMOG, it is difficult —not to say unfeasible— to get access to such data. Even, in an open source system, a number of users may refuse to pass information about its friends, acquaintances, or others. Putting together its own data and gathered data obtained from others, the avatar-impersonated player should be able to come across a trust result about its current trustee. For the trust assessment method used in this thesis, we use subjective logic operators and graph search algorithms to undertake such trust inference about the trustee. The proposed trust inference system has been validated using a number of OpenSimulator (opensimulator.org) scenarios, which showed an accuracy increase in evaluating trustability of avatars. Summing up, our proposal aims thus to introduce a trust theory for virtual worlds, its trust assessment metrics (e.g., subjective logic) and trust discovery methods (e.g., graph search methods), on an individual basis, rather than based on usual centralized reputation systems. In particular, and unlike other trust discovery methods, our methods run at interactive rates.MMOGs (Massively Multiplayer Online Games, como por exemplo, World of Warcraft), mundos virtuais (VW, como por exemplo, o Second Life) e redes sociais (como por exemplo, Facebook) necessitam de mecanismos de confiança mais autónomos, capazes de assegurar a segurança e a confiança de uma forma semelhante à que os seres humanos utilizam na vida real. Como se sabe, esta não é uma questão fácil. Porque confiar em seres humanos e ou organizações depende da percepção e da experiência de cada indivíduo, o que é difícil de quantificar ou medir à partida. Na verdade, esses ambientes sociais carecem dos mecanismos de confiança presentes em interacções humanas presenciais. Além disso, as interacções mediadas por dispositivos computacionais estão em constante evolução, necessitando de mecanismos de confiança adequados ao ritmo da evolução para avaliar situações de risco. Em VW/MMOGs, é amplamente reconhecido que os utilizadores desenvolvem relações de confiança a partir das suas interacções no mundo com outros. No entanto, essas relações de confiança acabam por não ser representadas nas estruturas de dados (ou bases de dados) do VW/MMOG específico, embora às vezes apareçam associados à reputação e a sistemas de reputação. Além disso, tanto quanto sabemos, ao utilizador não lhe é facultado nenhum mecanismo que suporte uma ferramenta de confiança individual para sustentar o seu processo de tomada de decisão, enquanto ele interage com outros utilizadores no mundo virtual ou jogo. A fim de resolver este problema, bem como os mencionados acima, propomos nesta tese uma representação formal para essas relações de confiança pessoal, baseada em interacções avatar-avatar. A ideia principal é fornecer a cada jogador representado por um avatar uma ferramenta de confiança pessoal que segue um modelo de confiança distribuída, ou seja, os dados de confiança são distribuídos através da rede social de um determinado VW/MMOG. Representar, manipular e inferir a confiança do ponto de utilizador/jogador, é certamente um grande desafio. Quando alguém encontra um indivíduo desconhecido, a pergunta é “Posso confiar ou não nele?”. É claro que isto requer que o utilizador tenha acesso a uma representação de confiança sobre os outros, mas, a menos que possamos usar uma plataforma VW/MMOG de código aberto, é difícil — para não dizer impossível — obter acesso aos dados gerados pelos utilizadores. Mesmo em sistemas de código aberto, um número de utilizadores pode recusar partilhar informações sobre seus amigos, conhecidos, ou sobre outros. Ao juntar seus próprios dados com os dados obtidos de outros, o utilizador/jogador representado por um avatar deve ser capaz de produzir uma avaliação de confiança sobre o utilizador/jogador com o qual se encontra a interagir. Relativamente ao método de avaliação de confiança empregue nesta tese, utilizamos lógica subjectiva para a representação da confiança, e também operadores lógicos da lógica subjectiva juntamente com algoritmos de procura em grafos para empreender o processo de inferência da confiança relativamente a outro utilizador. O sistema de inferência de confiança proposto foi validado através de um número de cenários Open-Simulator (opensimulator.org), que mostrou um aumento na precisão na avaliação da confiança de avatares. Resumindo, a nossa proposta visa, assim, introduzir uma teoria de confiança para mundos virtuais, conjuntamente com métricas de avaliação de confiança (por exemplo, a lógica subjectiva) e em métodos de procura de caminhos de confiança (com por exemplo, através de métodos de pesquisa em grafos), partindo de uma base individual, em vez de se basear em sistemas habituais de reputação centralizados. Em particular, e ao contrário de outros métodos de determinação do grau de confiança, os nossos métodos são executados em tempo real

Peer-to-Peer Simulation of Massive Virtual Environments

Massively multiplayer online environments continue to grow in popularity, with cur- rent technical designs based upon a well-proven client-server model. This approach has some inherent limitations, high costs to provision server resources for peak demands and restriction of the maximum number of concurrent participants within a virtual environ- ment. Incorporating peer-to-peer (P2P) techniques provides developers the opportunity to significantly reduce costs, while also breaking through the barrier of the number of concur- rent participants within a single virtual environment. This dissertation presents a hybrid P2P design incorporating a managed server along with a Voronoi-based P2P overlay for the development of massive virtual environments. In this design, the managed server en- sures a secure computing environment and long-term persistent storage, with the virtual environment simulation distributed among the peers, ensuring computational scalability

Enhancing detailed haptic relief for real-time interaction

The present document exposes a different approach for haptic rendering, defined as the simulation of force interactions to reproduce the sensation of surface relief in dense models. Current research shows open issues in timely haptic interaction involving large meshes, with several problems affecting performance and fidelity, and without a dominant technique to treat these issues properly. Relying in pure geometric collisions when rendering highly dense mesh models (hundreds of thousands of triangles) sensibly degrades haptic rates due to the sheer number of collisions that must be tracked between the mesh's faces and a haptic probe. Several bottlenecks were identified in order to enhance haptic performance: software architecture and data structures, collision detection, and accurate rendering of surface relief. To account for overall software architecture and data structures, it was derived a complete component framework for transforming standalone VR applications into full-fledged multi-threaded Collaborative Virtual Reality Environments (CVREs), after characterizing existing implementations into a feature-rich superset. Enhancements include: a scalable arbitrated peer-to-peer topology for scene sharing; multi-threaded components for graphics rendering, user interaction and network communications; a collaborative user interface model for session handling; and interchangeable user roles with multi-camera perspectives, avatar awareness and shared annotations. We validate the framework by converting the existing ALICE VR Navigator into a complete CVRE, showing good performance in collaborative manipulation of complex models. To specifically address collision detection computation, we derive a conformal algebra treatment for collisions among points, segments, areas, and volumes, based on collision detection in conformal R{4,1} (5D) space, and implemented in GPU for faster parallel queries. Results show orders of magnitude time reductions in collisions computations, allowing interactive rates. Finally, the main core of the research is the haptic rendering of surface mesostructure in large meshes. Initially, a method for surface haptic rendering was proposed, using image-based Hybrid Rugosity Mesostructures (HRMs) of per-face heightfield displacements and normalmaps layered on top of a simpler mesh, adding greater surface detail than actually present. Haptic perception is achieved modulating the haptic probe's force response using the HRM coat. A usability testbed framework was built to measure experimental performance with a common set tests, meshes and HRMs. Trial results show the goodness of the proposed technique, rendering accurate 3D surface detail at high sampling rates. This local per-face method is extended into a fast global approach for haptic rendering, building a mesostructure-based atlas of depth/normal textures (HyRMA), computed out of surface differences of the same mesh object at two different resolutions: original and simplified. For each triangle in the simplified mesh, an irregular prism is considered defined by the triangle's vertices and their normals. This prism completely covers the original mesh relief over the triangle. Depth distances and surfaces normals within each prism are warped from object volume space to orthogonal tangent space, by means of a novel and fast method for computing barycentric coordinates at the prism, and storing normals and relief in a sorted atlas. Haptic rendering is effected by colliding the probe against the atlas, and effecting a modulated force response at the haptic probe. The method is validated numerically, statistically and perceptually in user testing controlled trials, achieving accurate haptic sensation of large meshes' fine features at interactive rendering rates, with some minute loss of mesostructure detail.En aquesta tesi es presenta un novedós enfocament per a la percepció hàptica del relleu de models virtuals complexes mitjançant la simulació de les forces d'interacció entre la superfície i un element de contacte. La proposta contribueix a l'estat de l'art de la recerca en aquesta àrea incrementant l'eficiència i la fidelitat de la interacció hàptica amb grans malles de triangles. La detecció de col·lisions amb malles denses (centenars de milers de triangles) limita la velocitat de resposta hàptica degut al gran nombre d'avaluacions d'intersecció cara-dispositiu hàptic que s'han de realitzar. Es van identificar diferents alternatives per a incrementar el rendiment hàptic: arquitectures de software i estructures de dades específiques, algorismes de detecció de col·lisions i reproducció hàptica de relleu superficial. En aquesta tesi es presenten contribucions en alguns d'aquests aspectes. S'ha proposat una estructura completa de components per a transformar aplicacions de Realitat Virtual en Ambients Col·laboratius de Realitat Virtual (CRVEs) multithread en xarxa. L'arquitectura proposada inclou: una topologia escalable punt a punt per a compartir escenes; components multithread per a visualització gràfica, interacció amb usuaris i comunicació en xarxa; un model d'interfície d'usuari col·laboratiu per a la gestió de sessions; i rols intercanviables de l'usuari amb perspectives de múltiples càmeres, presència d'avatars i anotacions compartides. L'estructura s'ha validat convertint el navegador ALICE en un CVRE completament funcional, mostrant un bon rendiment en la manipulació col·laborativa de models complexes. Per a incrementar l'eficiència del càlcul de col·lisions, s'ha proposat un algorisme que treballa en un espai conforme R{4,1} (5D) que permet detectar col·lisions entre punts, segments, triangles i volums. Aquest algorisme s'ha implementat en GPU per obtenir una execució paral·lela més ràpida. Els resultats mostren reduccions en el temps de càlcul de col·lisions permetent interactivitat. Per a la percepció hàptica de malles complexes que modelen objectes rugosos, s'han proposat diferents algorismes i estructures de dades. Les denominades Mesoestructures Híbrides de Rugositat (HRM) permeten substituir els detalls geomètrics d'una cara (rugositats) per dues textures: de normals i d'alçades. La percepció hàptica s'aconsegueix modulant la força de resposta entre el dispositiu hàptic i la HRM. Els tests per avaluar experimentalment l'eficiència del càlcul de col·lisions i la percepció hàptica utilitzant HRM respecte a modelar les rugositats amb geometria, van mostrar que la tècnica proposada va ser encertada, permetent percebre detalls 3D correctes a altes tases de mostreig. El mètode es va estendre per a representar rugositats d'objectes. Es proposa substituir l'objecte per un model simplificat i un atles de mesoestructures en el que s'usen textures de normals i de relleus (HyRMA). Aquest atles s'obté a partir de la diferència en el detall de la superfície entre dos malles del mateix objecte: l'original i la simplificada. A partir d'un triangle de la malla simplificada es construeix un prisma, definit pels vèrtexs del triangle i les seves normals, que engloba el relleu de la malla original sobre el triangle. Les alçades i normals dins del prisma es transformen des de l'espai de volum a l'espai ortogonal tangent, amb mètode novedós i eficient que calcula les coordenades baricèntriques relatives al prisma, per a guardar el mapa de textures transformat en un atles ordenat. La percepció hàptica s'assoleix detectant les col·lisions entre el dispositiu hàptic i l'atles, i modulant la força de resposta d'acord al resultat de la col·lisió. El mètode s'ha validat numèricament, estadística i perceptual en tests amb usuaris, aconseguint una correcta i interactiva sensació tàctil dels objectes simulats mitjançant la mesoestructura de les mallesEn esta tesis se presenta un enfoque novedoso para la percepción háptica del relieve de modelos virtuales complejos mediante la simulación de las fuerzas de interacción entre la superficie y un elemento de contacto. La propuesta contribuye al estado del arte de investigación en este área incrementando la eficiencia y fidelidad de interacción háptica con grandes mallas de triángulos. La detección de colisiones con mallas geométricas densas (cientos de miles de triángulos) limita la velocidad de respuesta háptica debido al elevado número de evaluaciones de intersección cara-dispositivo háptico que deben realizarse. Se identificaron diferentes alternativas para incrementar el rendimiento háptico: arquitecturas de software y estructuras de datos específicas, algoritmos de detección de colisiones y reproducción háptica de relieve superficial. En esta tesis se presentan contribuciones en algunos de estos aspectos. Se ha propuesto una estructura completa de componentes para transformar aplicaciones aisladas de Realidad Virtual en Ambientes Colaborativos de Realidad Virtual (CRVEs) multithread en red. La arquitectura propuesta incluye: una topología escalable punto a punto para compartir escenas; componentes multithread para visualización gráfica, interacción con usuarios y comunicación en red; un modelo de interfaz de usuario colaborativo para la gestión de sesiones; y roles intercambiables del usuario con perspectivas de múltiples cámaras, presencia de avatares y anotaciones compartidas. La estructura se ha validado convirtiendo el navegador ALICE en un CVRE completamente funcional, mostrando un buen rendimiento en la manipulación colaborativa de modelos complejos. Para incrementar la eficiencia del cálculo de colisiones, se ha propuesto un algoritmo que trabaja en un espacio conforme R4,1 (5D) que permite detectar colisiones entre puntos, segmentos, triángulos y volúmenes. Este algoritmo se ha implementado en GPU a efectos de obtener una ejecución paralelamás rápida. Los resultadosmuestran reducciones en el tiempo de cálculo de colisiones permitiendo respuesta interactiva. Para la percepción háptica de mallas complejas que modelan objetos rugosos, se han propuesto diferentes algoritmos y estructuras de datos. Las denominadasMesoestructuras Híbridas de Rugosidad (HRM) permiten substituir los detalles geométricos de una cara (rugosidades) por una textura de normales y otra de alturas. La percepción háptica se consigue modulando la fuerza de respuesta entre el dispositivo háptico y la HRM. Los tests realizados para evaluar experimentalmente la eficiencia del cálculo de colisiones y la percepción háptica utilizando HRM respecto a modelar las rugosidades con geometría, mostraron que la técnica propuesta fue acertada, permitiendo percibir detalles 3D correctos a altas tasas de muestreo. Este método anterior es extendido a un procedimiento global para representar rugosidades de objetos. Para hacerlo se propone sustituir el objeto por un modelo simplificado y un atlas de mesostructuras usando texturas de normales y relieves (HyRMA). Este atlas se obtiene de la diferencia en detalle de superficie entre dos mallas del mismo objeto: la original y la simplificada. A partir de un triángulo de la malla simplificada se construye un prisma definido por los vértices del triángulo a lo largo de sus normales, que engloba completamente el relieve de la malla original sobre este triángulo. Las alturas y normales dentro de cada prisma se transforman del espacio de volumen al espacio ortoganal tangente, usando un método novedoso y eficiente que calcula las coordenadas baricéntricas relativas a cada prisma para guardar el mapa de texturas transformado en un atlas ordenado. La percepción háptica se consigue detectando directamente las colisiones entre el dispositivo háptico y el atlas, y modulando la fuerza de respuesta de acuerdo al resultado de la colisión. El procedmiento se ha validado numérica, estadística y perceptualmente en ensayos con usuarios, consiguiendo a tasas interactivas la correcta sensación táctil de los objetos simulados mediante la mesoestructura de las mallas, con alguna pérdida muy puntual de detall

Models, methods, and tools for developing MMOG backends on commodity clouds

Online multiplayer games have grown to unprecedented scales, attracting millions of players worldwide. The revenue from this industry has already eclipsed well-established entertainment industries like music and films and is expected to continue its rapid growth in the future. Massively Multiplayer Online Games (MMOGs) have also been extensively used in research studies and education, further motivating the need to improve their development process. The development of resource-intensive, distributed, real-time applications like MMOG backends involves a variety of challenges. Past research has primarily focused on the development and deployment of MMOG backends on dedicated infrastructures such as on-premise data centers and private clouds, which provide more flexibility but are expensive and hard to set up and maintain. A limited set of works has also focused on utilizing the Infrastructure-as-a-Service (IaaS) layer of public clouds to deploy MMOG backends. These clouds can offer various advantages like a lower barrier to entry, a larger set of resources, etc. but lack resource elasticity, standardization, and focus on development effort, from which MMOG backends can greatly benefit. Meanwhile, other research has also focused on solving various problems related to consistency, performance, and scalability. Despite major advancements in these areas, there is no standardized development methodology to facilitate these features and assimilate the development of MMOG backends on commodity clouds. This thesis is motivated by the results of a systematic mapping study that identifies a gap in research, evident from the fact that only a handful of studies have explored the possibility of utilizing serverless environments within commodity clouds to host these types of backends. These studies are mostly vision papers and do not provide any novel contributions in terms of methods of development or detailed analyses of how such systems could be developed. Using the knowledge gathered from this mapping study, several hypotheses are proposed and a set of technical challenges is identified, guiding the development of a new methodology. The peculiarities of MMOG backends have so far constrained their development and deployment on commodity clouds despite rapid advancements in technology. To explore whether such environments are viable options, a feasibility study is conducted with a minimalistic MMOG prototype to evaluate a limited set of public clouds in terms of hosting MMOG backends. Foli lowing encouraging results from this study, this thesis first motivates toward and then presents a set of models, methods, and tools with which scalable MMOG backends can be developed for and deployed on commodity clouds. These are encapsulated into a software development framework called Athlos which allows software engineers to leverage the proposed development methodology to rapidly create MMOG backend prototypes that utilize the resources of these clouds to attain scalable states and runtimes. The proposed approach is based on a dynamic model which aims to abstract the data requirements and relationships of many types of MMOGs. Based on this model, several methods are outlined that aim to solve various problems and challenges related to the development of MMOG backends, mainly in terms of performance and scalability. Using a modular software architecture, and standardization in common development areas, the proposed framework aims to improve and expedite the development process leading to higher-quality MMOG backends and a lower time to market. The models and methods proposed in this approach can be utilized through various tools during the development lifecycle. The proposed development framework is evaluated qualitatively and quantitatively. The thesis presents three case study MMOG backend prototypes that validate the suitability of the proposed approach. These case studies also provide a proof of concept and are subsequently used to further evaluate the framework. The propositions in this thesis are assessed with respect to the performance, scalability, development effort, and code maintainability of MMOG backends developed using the Athlos framework, using a variety of methods such as small and large-scale simulations and more targeted experimental setups. The results of these experiments uncover useful information about the behavior of MMOG backends. In addition, they provide evidence that MMOG backends developed using the proposed methodology and hosted on serverless environments can: (a) support a very high number of simultaneous players under a given latency threshold, (b) elastically scale both in terms of processing power and memory capacity and (c) significantly reduce the amount of development effort. The results also show that this methodology can accelerate the development of high-performance, distributed, real-time applications like MMOG backends, while also exposing the limitations of Athlos in terms of code maintainability. Finally, the thesis provides a reflection on the research objectives, considerations on the hypotheses and technical challenges, and outlines plans for future work in this domain