Distributed Model Predictive Control for Heterogeneous Vehicle Platoon with Inter-Vehicular Spacing Constraints

This paper proposes a distributed control scheme for a platoon of heterogeneous vehicles based on the mechanism of model predictive control (MPC). The platoon composes of a group of vehicles interacting with each other via inter-vehicular spacing constraints, to avoid collision and reduce communication latency, and aims to make multiple vehicles driving on the same lane safely with a close range and the same velocity. Each vehicle is subject to both state constraints and input constraints, communicates only with neighboring vehicles, and may not know a priori desired setpoint. We divide the computation of control inputs into several local optimization problems based on each vehicle’s local information. To compute the control input of each vehicle based on local information, a distributed computing method must be adopted and thus the coupled constraint is required to be decoupled. This is achieved by introducing the reference state trajectories from neighboring vehicles for each vehicle and by employing the interactive structure of computing local problems of vehicles with odd indices and even indices. It is shown that the feasibility of MPC optimization problems is achieved at all time steps based on tailored terminal inequality constraints, and the asymptotic stability of each vehicle to the desired trajectory is guaranteed even under a single iteration between vehicles at each time. Finally, a comparison simulation is conducted to demonstrate the effectiveness of the proposed distributed MPC method for heterogeneous vehicle control with respect to normal and extreme scenarios

Analyzing Communication Models for Distributed Thread-Collaborative Processors in Terms of Energy and Time

Abstract-Accelerated computing has become pervasive for increasing the computational power and energy efficiency in terms of GFLOPs/Watt. For application areas with highest demands, for instance high performance computing, data warehousing and high performance analytics, accelerators like GPUs or Intel's MICs are distributed throughout the cluster. Since current analyses and predictions show that data movement will be the main contributor to energy consumption, we are entering an era of communication-centric heterogeneous systems that are operating with hard power constraints. In this work, we analyze data movement optimizations for distributed heterogeneous systems based on CPUs and GPUs. Thread-collaborative processors like GPUs differ significantly in their execution model from generalpurpose processors like CPUs, but available communication models are still designed and optimized for CPUs. Similar to heterogeneity in processing, heterogeneity in communication can have a huge impact on energy and time. To analyze this impact, we use multiple workloads with distinct properties regarding computational intensity and communication characteristics. We show for which workloads tailored communication models are essential, not only reducing execution time but also saving energy. Exposing the impact in terms of energy and time for communication-centric heterogeneous systems is crucial for future optimizations, and this work is a first step in this direction

System Design and Algorithmic Development for Computational Steering in Distributed Environments

Supporting visualization pipelines over wide-area networks is critical to enabling large-scale scientific applications that require visual feedback to interactively steer online computations. We propose a remote computational steering system that employs analytical models to estimate the cost of computing and communication components and optimizes the overall system performance in distributed environments with heterogeneous resources. We formulate and categorize the visualization pipeline configuration problems for maximum frame rate into three classes according to the constraints on node reuse or resource sharing, namely no, contiguous, and arbitrary reuse. We prove all three problems to be NP-complete and present heuristic approaches based on a dynamic programming strategy. The superior performance of the proposed solution is demonstrated with extensive simulation results in comparison with existing algorithms and is further evidenced by experimental results collected on a prototype implementation deployed over the Internet

A Survey on Load Balancing Algorithms for VM Placement in Cloud Computing

The emergence of cloud computing based on virtualization technologies brings huge opportunities to host virtual resource at low cost without the need of owning any infrastructure. Virtualization technologies enable users to acquire, configure and be charged on pay-per-use basis. However, Cloud data centers mostly comprise heterogeneous commodity servers hosting multiple virtual machines (VMs) with potential various specifications and fluctuating resource usages, which may cause imbalanced resource utilization within servers that may lead to performance degradation and service level agreements (SLAs) violations. To achieve efficient scheduling, these challenges should be addressed and solved by using load balancing strategies, which have been proved to be NP-hard problem. From multiple perspectives, this work identifies the challenges and analyzes existing algorithms for allocating VMs to PMs in infrastructure Clouds, especially focuses on load balancing. A detailed classification targeting load balancing algorithms for VM placement in cloud data centers is investigated and the surveyed algorithms are classified according to the classification. The goal of this paper is to provide a comprehensive and comparative understanding of existing literature and aid researchers by providing an insight for potential future enhancements.Comment: 22 Pages, 4 Figures, 4 Tables, in pres