On the Collaboration of an Automatic Path-Planner and a Human User for Path-Finding in Virtual Industrial Scenes

This paper describes a global interactive framework enabling an automatic path-planner and a user to collaborate for finding a path in cluttered virtual environments. First, a collaborative architecture including the user and the planner is described. Then, for real time purpose, a motion planner divided into different steps is presented. First, a preliminary workspace discretization is done without time limitations at the beginning of the simulation. Then, using these pre-computed data, a second algorithm finds a collision free path in real time. Once the path is found, an haptic artificial guidance on the path is provided to the user. The user can then influence the planner by not following the path and automatically order a new path research. The performances are measured on tests based on assembly simulation in CAD scenes

Information dissemination via random walks

Information dissemination is a fundamental task in distributed computing: How to deliver a piece of information from a node of a network to some or all other nodes? In the face of large and still growing modern networks, it is imperative that dissemination algorithms are decentralised and can operate under unreliable conditions. In the past decades, randomised rumour spreading algorithms have addressed these challenges. In these algorithms, a message is initially placed at a source node of a network, and, at regular intervals, each node contacts a randomly selected neighbour. A message may be transmitted in one or both directions during each of these communications, depending on the exact protocol. The main measure of performance for these algorithms is their broadcast time, which is the time until a message originating from a source node is disseminated to all nodes of the network. Apart from being extremely simple and robust to failures, randomised rumour spreading achieves theoretically optimal broadcast time in many common network topologies. In this thesis, we propose an agent-based information dissemination algorithm, called Visit-Exchange. In our protocol, a number of agents perform independent random walks in the network. An agent becomes informed when it visits a node that has a message, and later informs all future nodes it visits. Visit-Exchange shares many of the properties of randomised rumour spreading, namely, it is very simple and uses the same amount of communication in a unit of time. Moreover, the protocol can be used as a simple model of non-recoverable epidemic processes. We investigate the broadcast time of Visit-Exchange on a variety of network topologies, and compare it to traditional rumour spreading. On dense regular networks we show that the two types of protocols are equivalent, which means that in this setting the vast literature on randomised rumour spreading applies in our model as well. Since many networks of interest, including real-world ones, are very sparse, we also study agent-based broadcast for sparse networks. Our results include almost optimal or optimal bounds for sparse regular graphs, expanders, random regular graphs, balanced trees and grids. We establish that depending on the network topology, Visit-Exchange may be either slower or faster than traditional rumour spreading. In particular, in graphs consisting of hubs that are not well connected, broadcast using agents can be significantly faster. Our conclusion is that a combined broadcasting protocol that simultaneously uses both traditional rumour spreading and agent-based dissemination can be fast on a larger range of topologies than each of its components separately.Gates Cambridge Trust, St John's College Benefactors' Scholarshi

Querying RDF Data Using A Multigraph-based Approach

International audienceRDF is a standard for the conceptual description of knowledge , and SPARQL is the query language conceived to query RDF data. The RDF data is cherished and exploited by various domains such as life sciences, Semantic Web, social network, etc. Further, its integration at Web-scale compels RDF management engines to deal with complex queries in terms of both size and structure. In this paper, we propose AMbER (Attributed Multigraph Based Engine for RDF querying), a novel RDF query engine specifically designed to optimize the computation of complex queries. AMbER leverages subgraph matching techniques and extends them to tackle the SPARQL query problem. First of all RDF data is represented as a multigraph, and then novel indexing structures are established to efficiently access the information from the multigraph. Finally a SPARQL query is represented as a multigraph, and the SPARQL querying problem is reduced to the subgraph homomorphism problem. AMbER exploits structural properties of the query multigraph as well as the proposed indexes, in order to tackle the problem of subgraph homomorphism. The performance of AMbER, in comparison with state-of-the-art systems, has been extensively evaluated over several RDF benchmarks. The advantages of employing AMbER for complex SPARQL queries have been experimentally validated

Neighbourhood Broadcasting in Hypercubes

International audienceIn the broadcasting problem, one node needs to broadcast a message to all other nodes in a network. If nodes can only communicate with one neighbor at a time, broadcasting takes at least $\lceil \log_2 N \rceil$ rounds in a network of $N$ nodes. In the neighborhood broadcasting problem, the node that is broadcasting needs to inform only its neighbors. In a binary hypercube with $N$ nodes, each node has $\log_2 N$ neighbors, so neighborhood broadcasting takes at least $\lceil \log_2 \log_2 (N+1) \rceil$ rounds. In this paper, we present asymptotically optimal neighborhood broadcast protocols for binary hypercubes

Agent Street: An Environment for Exploring Agent-Based Models in Second Life

Urban models can be seen on a continuum between iconic and symbolic. Generally speaking, iconic models are physical versions of the real world at some scaled down representation, while symbolic models represent the system in terms of the way they function replacing the physical or material system by some logical and/or mathematical formulae. Traditionally iconic and symbolic models were distinct classes of model but due to the rise of digital computing the distinction between the two is becoming blurred, with symbolic models being embedded into iconic models. However, such models tend to be single user. This paper demonstrates how 3D symbolic models in the form of agent-based simulations can be embedded into iconic models using the multi-user virtual world of Second Life. Furthermore, the paper demonstrates Second Life\'s potential for social science simulation. To demonstrate this, we first introduce Second Life and provide two exemplar models; Conway\'s Game of Life, and Schelling\'s Segregation Model which highlight how symbolic models can be viewed in an iconic environment. We then present a simple pedestrian evacuation model which merges the iconic and symbolic together and extends the model to directly incorporate avatars and agents in the same environment illustrating how \'real\' participants can influence simulation outcomes. Such examples demonstrate the potential for creating highly visual, immersive, interactive agent-based models for social scientists in multi-user real time virtual worlds. The paper concludes with some final comments on problems with representing models in current virtual worlds and future avenues of research.Agent-Based Modelling, Pedestrian Evacuation, Segregation, Virtual Worlds, Second Life

e-Governance: Supporting pragmatic direct deliberative action through online communities of interest

Authors often report on the limited success of e-Government initiatives in developing nations. Top down, national strategies are developed to target improved government services, but maintain hierarchical, citizen-state conceptions of governance through representative democracy. An alternative conception, direct deliberative democracy, frames the potential role of the internet in governance differently. Web based platforms might support locally animated deliberations, which target pragmatic outcomes, while the resulting social networks afford collective learning through connections across traditional boundaries. This paper presents an investigation of direct deliberative governance as it occurs in online 'communities of interest', and is based on research with such a community in southern Africa. We investigate contributions to the online governance process and develop an action typology distinguishing between degrees of 'agency freedom'. Network analytic techniques are then used to understand how acts of varying degree are expressed in terms of the structure of a social network. The aim, more broadly, is to understand how the environment shapes acts of direct deliberative governance, and, in turn, how the acts shape the evolution and effectiveness of the community. The preliminary results suggest design considerations for online governance communities, and highlight their role to not only provide deliberative space, but to mediate social network connections