Efficient Communication and Coordination for Large-Scale Multi-Agent Systems

The growth of the computational power of computers and the speed of networks has made large-scale multi-agent systems a promising technology. As the number of agents in a single application approaches thousands or millions, distributed computing has become a general paradigm in large-scale multi-agent systems to take the benefits of parallel computing. However, since these numerous agents are located on distributed computers and interact intensively with each other to achieve common goals, the agent communication cost significantly affects the performance of applications. Therefore, optimizing the agent communication cost on distributed systems could considerably reduce the runtime of multi-agent applications. Furthermore, because static multi-agent frameworks may not be suitable for all kinds of applications, and the communication patterns of agents may change during execution, multi-agent frameworks should adapt their services to support applications differently according to their dynamic characteristics. This thesis proposes three adaptive services at the agent framework level to reduce the agent communication and coordination cost of large-scale multi-agent applications. First, communication locality-aware agent distribution aims at minimizing inter-node communication by collocating heavily communicating agents on the same platform and maintaining agent group-based load sharing. Second, application agent-oriented middle agent services attempt to optimize agent interaction through middle agents by executing application agent-supported search algorithms on the middle agent address space. Third, message passing for mobile agents aims at reducing the time of message delivery to mobile agents using location caches or by extending the agent address scheme with location information. With these services, we have achieved very impressive experimental results in large- scale UAV simulations including up to 10,000 agents. Also, we have provided a formal definition of our framework and services with operational semantics

Dynamic re-optimization techniques for stream processing engines and object stores

Large scale data storage and processing systems are strongly motivated by the need to store and analyze massive datasets. The complexity of a large class of these systems is rooted in their distributed nature, extreme scale, need for real-time response, and streaming nature. The use of these systems on multi-tenant, cloud environments with potential resource interference necessitates fine-grained monitoring and control. In this dissertation, we present efficient, dynamic techniques for re-optimizing stream-processing systems and transactional object-storage systems.^ In the context of stream-processing systems, we present VAYU, a per-topology controller. VAYU uses novel methods and protocols for dynamic, network-aware tuple-routing in the dataflow. We show that the feedback-driven controller in VAYU helps achieve high pipeline throughput over long execution periods, as it dynamically detects and diagnoses any pipeline-bottlenecks. We present novel heuristics to optimize overlays for group communication operations in the streaming model.^ In the context of object-storage systems, we present M-Lock, a novel lock-localization service for distributed transaction protocols on scale-out object stores to increase transaction throughput. Lock localization refers to dynamic migration and partitioning of locks across nodes in the scale-out store to reduce cross-partition acquisition of locks. The service leverages the observed object-access patterns to achieve lock-clustering and deliver high performance. We also present TransMR, a framework that uses distributed, transactional object stores to orchestrate and execute asynchronous components in amorphous data-parallel applications on scale-out architectures

NASDA's Advanced On-Line System (ADOLIS)

Spacecraft operations including ground system operations are generally realized by various large or small scale group work which is done by operators, engineers, managers, users and so on, and their positions are geographically distributed in many cases. In face-to-face work environments, it is easy for them to understand each other. However, in distributed work environments which need communication media, if only using audio, they become estranged from each other and lose interest in and continuity of work. It is an obstacle to smooth operation of spacecraft. NASDA has developed an experimental model of a new real-time operation control system called 'ADOLIS' (ADvanced On-Line System) adopted to such a distributed environment using a multi-media system dealing with character, figure, image, handwriting, video and audio information which is accommodated to operation systems of a wide range including spacecraft and ground systems. This paper describes the results of the development of the experimental model

Building global and scalable systems with atomic multicast

The rise of worldwide Internet-scale services demands large distributed systems. Indeed, when handling several millions of users, it is common to operate thousands of servers spread across the globe. Here, replication plays a central role, as it contributes to improve the user experience by hiding failures and by providing acceptable latency. In this thesis, we claim that atomic multicast, with strong and well-defined properties, is the appropriate abstraction to efficiently design and implement globally scalable distributed systems. Internet-scale services rely on data partitioning and replication to provide scalable performance and high availability. Moreover, to reduce user-perceived response times and tolerate disasters (i.e., the failure of a whole datacenter), services are increasingly becoming geographically distributed. Data partitioning and replication, combined with local and geographical distribution, introduce daunting challenges, including the need to carefully order requests among replicas and partitions. One way to tackle this problem is to use group communication primitives that encapsulate order requirements. While replication is a common technique used to design such reliable distributed systems, to cope with the requirements of modern cloud based ``always-on'' applications, replication protocols must additionally allow for throughput scalability and dynamic reconfiguration, that is, on-demand replacement or provisioning of system resources. We propose a dynamic atomic multicast protocol which fulfills these requirements. It allows to dynamically add and remove resources to an online replicated state machine and to recover crashed processes. Major efforts have been spent in recent years to improve the performance, scalability and reliability of distributed systems. In order to hide the complexity of designing distributed applications, many proposals provide efficient high-level communication abstractions. Since the implementation of a production-ready system based on this abstraction is still a major task, we further propose to expose our protocol to developers in the form of distributed data structures. B-trees for example, are commonly used in different kinds of applications, including database indexes or file systems. Providing a distributed, fault-tolerant and scalable data structure would help developers to integrate their applications in a distribution transparent manner. This work describes how to build reliable and scalable distributed systems based on atomic multicast and demonstrates their capabilities by an implementation of a distributed ordered map that supports dynamic re-partitioning and fast recovery. To substantiate our claim, we ported an existing SQL database atop of our distributed lock-free data structure. Here, replication plays a central role, as it contributes to improve the user experience by hiding failures and by providing acceptable latency. In this thesis, we claim that atomic multicast, with strong and well-defined properties, is the appropriate abstraction to efficiently design and implement globally scalable distributed systems. Internet-scale services rely on data partitioning and replication to provide scalable performance and high availability. Moreover, to reduce user-perceived response times and tolerate disasters (i.e., the failure of a whole datacenter), services are increasingly becoming geographically distributed. Data partitioning and replication, combined with local and geographical distribution, introduce daunting challenges, including the need to carefully order requests among replicas and partitions. One way to tackle this problem is to use group communication primitives that encapsulate order requirements. While replication is a common technique used to design such reliable distributed systems, to cope with the requirements of modern cloud based ``always-on'' applications, replication protocols must additionally allow for throughput scalability and dynamic reconfiguration, that is, on-demand replacement or provisioning of system resources. We propose a dynamic atomic multicast protocol which fulfills these requirements. It allows to dynamically add and remove resources to an online replicated state machine and to recover crashed processes. Major efforts have been spent in recent years to improve the performance, scalability and reliability of distributed systems. In order to hide the complexity of designing distributed applications, many proposals provide efficient high-level communication abstractions. Since the implementation of a production-ready system based on this abstraction is still a major task, we further propose to expose our protocol to developers in the form of distributed data structures. B- trees for example, are commonly used in different kinds of applications, including database indexes or file systems. Providing a distributed, fault-tolerant and scalable data structure would help developers to integrate their applications in a distribution transparent manner. This work describes how to build reliable and scalable distributed systems based on atomic multicast and demonstrates their capabilities by an implementation of a distributed ordered map that supports dynamic re-partitioning and fast recovery. To substantiate our claim, we ported an existing SQL database atop of our distributed lock-free data structure

Scalability approaches for causal multicast: a survey

The final publication is available at Springer via http://dx.doi.org/10.1007/s00607-015-0479-0Many distributed services need to be scalable: internet search, electronic commerce, e-government... In order to achieve scalability, high availability and fault tolerance, such applications rely on replicated components. Because of the dynamics of growth and volatility of customer markets, applications need to be hosted by adaptive, highly scalable systems. In particular, the scalability of the reliable multicast mechanisms used for supporting the consistency of replicas is of crucial importance. Reliable multicast might propagate updates in a pre-determined order (e.g., FIFO, total or causal). Since total order needs more communication rounds than causal order, the latter appears to be the preferable candidate for achieving multicast scalability, although the consistency guarantees based on causal order are weaker than those of total order. 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A Low-Cost Experimental Testbed for Multi-Agent System Coordination Control

A multi-agent system can be defined as a coordinated network of mobile, physical agents that execute complex tasks beyond their individual capabilities. Observations of biological multi-agent systems in nature reveal that these ``super-organisms” accomplish large scale tasks by leveraging the inherent advantages of a coordinated group. With this in mind, such systems have the potential to positively impact a wide variety of engineering applications (e.g. surveillance, self-driving cars, and mobile sensor networks). The current state of research in the area of multi-agent systems is quickly evolving from the theoretical development of coordination control algorithms and their computer simulations to experimental validations on proof-of-concept testbeds using small-scale mobile robotic platforms. An in-house testbed would allow for rapid prototyping and validation of control algorithms, and potentially lead to new research directions spawned by experimentally-observed issues. To this end, a custom experimental testbed, TIGER Square, has been designed, developed, built, and tested at Louisiana State University. In this work, the completed design and test results for a centralized testbed is presented. That is, the individual robots follow an overarching control entity and are reliant on a global structure, such as a central processing computer. As part of the validation process, a series of formation control experiments were executed to assess the performance of the testbed. In order to eliminate single-point failures, a multi-agent system must be fully decentralized or distributed. This means that the responsibilities of processing, localization, and communication are distributed to each agent. Therefore, this work concludes with the introduction of a prototype localization module that will be integrated into the existing centralized testbed. This initial step allows for the future decentralization of TIGER Square and opens the path to achieve a fully capable multi-agent system testbed

Distributed Information-based Source Seeking

In this paper, we design an information-based multi-robot source seeking algorithm where a group of mobile sensors localizes and moves close to a single source using only local range-based measurements. In the algorithm, the mobile sensors perform source identification/localization to estimate the source location; meanwhile, they move to new locations to maximize the Fisher information about the source contained in the sensor measurements. In doing so, they improve the source location estimate and move closer to the source. Our algorithm is superior in convergence speed compared with traditional field climbing algorithms, is flexible in the measurement model and the choice of information metric, and is robust to measurement model errors. Moreover, we provide a fully distributed version of our algorithm, where each sensor decides its own actions and only shares information with its neighbors through a sparse communication network. We perform intensive simulation experiments to test our algorithms on large-scale systems and physical experiments on small ground vehicles with light sensors, demonstrating success in seeking a light source

Inc-part: incremental partitioning for load balancing in large-scale behavioral simulations

Large-scale behavioral simulations are widely used to study real-world multi-agent systems. Such programs normally run in discrete time-steps or ticks, with simulated space decomposed into domains that are distributed over a set of workers to achieve parallelism. A distinguishing feature of behavioral simulations is their frequent and high-volume group migration, the phenomenon in which simulated objects traverse domains in groups at massive scale in each tick. This results in continual and significant load imbalance among domains. To tackle this problem, traditional load balancing approaches either require excessive load re-profiling and redistribution, which lead to high computation/communication costs, or perform poorly because their statically partitioned data domains cannot reflect load changes brought by group migration. In this paper, we propose an effective and low-cost load balancing scheme, named Inc-part, based on a key observation that an object is unlikely to move a long distance (across many domains) within a single tick. This localized mobility property allows one to efficiently estimate the load of a dynamic domain incrementally, based on merely the load changes occurring in its neighborhood. The domains experiencing significant load changes are then partitioned or merged, and redistributed to redress load imbalance among the workers. Experiments on a 64-node (1,024-core) platform show that Inc-part can attain excellent load balance with dramatically lowered costs compared to state-of-the-art solutions