Safe, Remote-Access Swarm Robotics Research on the Robotarium

This paper describes the development of the Robotarium -- a remotely accessible, multi-robot research facility. The impetus behind the Robotarium is that multi-robot testbeds constitute an integral and essential part of the multi-agent research cycle, yet they are expensive, complex, and time-consuming to develop, operate, and maintain. These resource constraints, in turn, limit access for large groups of researchers and students, which is what the Robotarium is remedying by providing users with remote access to a state-of-the-art multi-robot test facility. This paper details the design and operation of the Robotarium as well as connects these to the particular considerations one must take when making complex hardware remotely accessible. In particular, safety must be built in already at the design phase without overly constraining which coordinated control programs the users can upload and execute, which calls for minimally invasive safety routines with provable performance guarantees.Comment: 13 pages, 7 figures, 3 code samples, 72 reference

Software Defined Networks based Smart Grid Communication: A Comprehensive Survey

The current power grid is no longer a feasible solution due to ever-increasing user demand of electricity, old infrastructure, and reliability issues and thus require transformation to a better grid a.k.a., smart grid (SG). The key features that distinguish SG from the conventional electrical power grid are its capability to perform two-way communication, demand side management, and real time pricing. Despite all these advantages that SG will bring, there are certain issues which are specific to SG communication system. For instance, network management of current SG systems is complex, time consuming, and done manually. Moreover, SG communication (SGC) system is built on different vendor specific devices and protocols. Therefore, the current SG systems are not protocol independent, thus leading to interoperability issue. Software defined network (SDN) has been proposed to monitor and manage the communication networks globally. This article serves as a comprehensive survey on SDN-based SGC. In this article, we first discuss taxonomy of advantages of SDNbased SGC.We then discuss SDN-based SGC architectures, along with case studies. Our article provides an in-depth discussion on routing schemes for SDN-based SGC. We also provide detailed survey of security and privacy schemes applied to SDN-based SGC. We furthermore present challenges, open issues, and future research directions related to SDN-based SGC.Comment: Accepte

Recent Research in Cooperative Control of Multivehicle Systems

This paper presents a survey of recent research in cooperative control of multivehicle systems, using a common mathematical framework to allow different methods to be described in a unified way. The survey has three primary parts: an overview of current applications of cooperative control, a summary of some of the key technical approaches that have been explored, and a description of some possible future directions for research. Specific technical areas that are discussed include formation control, cooperative tasking, spatiotemporal planning, and consensus

Contributions to Edge Computing

Efforts related to Internet of Things (IoT), Cyber-Physical Systems (CPS), Machine to Machine (M2M) technologies, Industrial Internet, and Smart Cities aim to improve society through the coordination of distributed devices and analysis of resulting data. By the year 2020 there will be an estimated 50 billion network connected devices globally and 43 trillion gigabytes of electronic data. Current practices of moving data directly from end-devices to remote and potentially distant cloud computing services will not be sufficient to manage future device and data growth. Edge Computing is the migration of computational functionality to sources of data generation. The importance of edge computing increases with the size and complexity of devices and resulting data. In addition, the coordination of global edge-to-edge communications, shared resources, high-level application scheduling, monitoring, measurement, and Quality of Service (QoS) enforcement will be critical to address the rapid growth of connected devices and associated data. We present a new distributed agent-based framework designed to address the challenges of edge computing. This actor-model framework implementation is designed to manage large numbers of geographically distributed services, comprised from heterogeneous resources and communication protocols, in support of low-latency real-time streaming applications. As part of this framework, an application description language was developed and implemented. Using the application description language a number of high-order management modules were implemented including solutions for resource and workload comparison, performance observation, scheduling, and provisioning. A number of hypothetical and real-world use cases are described to support the framework implementation

New Concepts for Virtual Testbeds : Data Mining Algorithms for Blackbox Optimization based on Wait-Free Concurrency and Generative Simulation

Virtual testbeds have emerged as a key technology for improving and streamlining complex engineering processes by delivering long-term simulation and assessment of complex designs in virtual environments. In contrast to existing simulation technology, virtual testbeds focus on long-term physically-based simulation of the overall design in its (virtual) environment instead of only focussing on isolated, specific parts for short periods of time. This technology has the major advantage that costly testing, prototyping, and assessment in real-life environments are replaced by a cost-efficient simulation in virtual worlds for comprehensive and long-term analysis of designs. For this purpose, engineering models and their requirements are abstracted into software simulation models and objectives which are executed in virtual assessments. Simulation models are used to predict complex, real systems which can be further a subject to random influences. These predictions are used to examine the effects of individual configuration alternatives without actually realizing them and causing possible negative effects on the real system. Virtual testbeds further offer engineers the opportunity to immersively and naturally interact with their simulation model in these virtual assessments. This enables a greater and comprehensive understanding of possible design flaws early-on in the design process for engineers because they can directly assess their design in the virtual environment, based on the simulation objectives. The fact that virtual testbeds enable these realtime interactive virtual assessments, makes their underlying software infrastructure very complex. One major challenge is to minimize the development time of virtual testbeds in order to efficiently integrate them into the overall engineering process. Usually, this can be achieved by minimizing the underlying concurrency of the testbed and by simplifying its software architecture. However, this may result in a degradation of their very concurrent and asynchronous behavior, which is usually required for immersive and natural virtual interaction. A major goal of virtual testbeds in the engineering process is to find a set of optimal configurations of the simulation model which maximizes all simulation objectives for the specified virtual assessments. Once such a set has been computed, engineers can interactively explore it in the virtual environment. The main challenge is that sophisticated simulation models and their configuration are subject to a multiobjective optimization problem, which usually can not be solved manually by engineers or simulation analysts in feasible time. This is further aggravated because the relationships between simulation model configurations and simulation objectives are mostly unknown, leading to what is known as blackbox simulations. In this thesis, I propose novel data mining algorithms for computing Pareto optimal simulation model configurations, based on an approximation of the feasible design space, for deterministic and stochastic blackbox simulations in virtual testbeds for achieving above stated goal. These novel data mining algorithms lead to an automatic knowledge discovery process that does not need any supervision for its data analysis and assessment for multiobjective optimization problems of simulation model configurations. This achieves the previously stated goal of computing optimal configurations of simulation models for long-term simulations and assessments. Furthermore, I propose two complementary solutions for efficiently integrating massively-parallel virtual testbeds into engineering processes. First, I propose a novel multiversion wait-free data and concurrency management based on hash maps. These wait-free hash maps do not require any standard locking mechanisms and enable low-latency data generation, management and distribution for massively-parallel applications. Second, I propose novel concepts for efficiently code generating above wait-free data and concurrency management for arbitrary massively-parallel simulation applications of virtual testbeds. My generative simulation concept combines a state-of-the-art realtime interactive system design pattern for high maintainability with template code generation based on domain specific modelling. This concept is able to generate massively-parallel simulations and, at the same time, model checks its internal dataflow for possible interface errors. These generative concept overcomes the challenge of efficiently integrating virtual testbeds into engineering processes. These contributions enable for the first time a powerful collaboration between simulation, optimization, visualization and data analysis for novel virtual testbed applications but also overcome and achieve the presented challenges and goals

Coordination and Self-Adaptive Communication Primitives for Low-Power Wireless Networks

The Internet of Things (IoT) is a recent trend where objects are augmented with computing and communication capabilities, often via low-power wireless radios. The Internet of Things is an enabler for a connected and more sustainable modern society: smart grids are deployed to improve energy production and consumption, wireless monitoring systems allow smart factories to detect faults early and reduce waste, while connected vehicles coordinate on the road to ensure our safety and save fuel. Many recent IoT applications have stringent requirements for their wireless communication substrate: devices must cooperate and coordinate, must perform efficiently under varying and sometimes extreme environments, while strict deadlines must be met. Current distributed coordination algorithms have high overheads and are unfit to meet the requirements of today\u27s wireless applications, while current wireless protocols are often best-effort and lack the guarantees provided by well-studied coordination solutions. Further, many communication primitives available today lack the ability to adapt to dynamic environments, and are often tuned during their design phase to reach a target performance, rather than be continuously updated at runtime to adapt to reality.In this thesis, we study the problem of efficient and low-latency consensus in the context of low-power wireless networks, where communication is unreliable and nodes can fail, and we investigate the design of a self-adaptive wireless stack, where the communication substrate is able to adapt to changes to its environment. We propose three new communication primitives: Wireless Paxos brings fault-tolerant consensus to low-power wireless networking, STARC is a middleware for safe vehicular coordination at intersections, while Dimmer builds on reinforcement learning to provide adaptivity to low-power wireless networks. We evaluate in-depth each primitive on testbed deployments and we provide an open-source implementation to enable their use and improvement by the community

Hybrid SDN Evolution: A Comprehensive Survey of the State-of-the-Art

Software-Defined Networking (SDN) is an evolutionary networking paradigm which has been adopted by large network and cloud providers, among which are Tech Giants. However, embracing a new and futuristic paradigm as an alternative to well-established and mature legacy networking paradigm requires a lot of time along with considerable financial resources and technical expertise. Consequently, many enterprises can not afford it. A compromise solution then is a hybrid networking environment (a.k.a. Hybrid SDN (hSDN)) in which SDN functionalities are leveraged while existing traditional network infrastructures are acknowledged. Recently, hSDN has been seen as a viable networking solution for a diverse range of businesses and organizations. Accordingly, the body of literature on hSDN research has improved remarkably. On this account, we present this paper as a comprehensive state-of-the-art survey which expands upon hSDN from many different perspectives