Control of Robotic Mobility-On-Demand Systems: a Queueing-Theoretical Perspective

In this paper we present and analyze a queueing-theoretical model for autonomous mobility-on-demand (MOD) systems where robotic, self-driving vehicles transport customers within an urban environment and rebalance themselves to ensure acceptable quality of service throughout the entire network. We cast an autonomous MOD system within a closed Jackson network model with passenger loss. It is shown that an optimal rebalancing algorithm minimizing the number of (autonomously) rebalancing vehicles and keeping vehicles availabilities balanced throughout the network can be found by solving a linear program. The theoretical insights are used to design a robust, real-time rebalancing algorithm, which is applied to a case study of New York City. The case study shows that the current taxi demand in Manhattan can be met with about 8,000 robotic vehicles (roughly 60% of the size of the current taxi fleet). Finally, we extend our queueing-theoretical setup to include congestion effects, and we study the impact of autonomously rebalancing vehicles on overall congestion. Collectively, this paper provides a rigorous approach to the problem of system-wide coordination of autonomously driving vehicles, and provides one of the first characterizations of the sustainability benefits of robotic transportation networks.Comment: 10 pages, To appear at RSS 201

Store-Forward and its implications for Proportional Scheduling

The Proportional Scheduler was recently proposed as a scheduling algorithm for multi-hop switch networks. For these networks, the BackPressure scheduler is the classical benchmark. For networks with fixed routing, the Proportional Scheduler is maximum stable, myopic and, furthermore, will alleviate certain scaling issued found in BackPressure for large networks. Nonetheless, the equilibrium and delay properties of the Proportional Scheduler has not been fully characterized. In this article, we postulate on the equilibrium behaviour of the Proportional Scheduler though the analysis of an analogous rule called the Store-Forward allocation. It has been shown that Store-Forward has asymptotically allocates according to the Proportional Scheduler. Further, for Store-Forward networks, numerous equilibrium quantities are explicitly calculable. For FIFO networks under Store-Forward, we calculate the policies stationary distribution and end-to-end route delay. We discuss network topologies when the stationary distribution is product-form, a phenomenon which we call \emph{product form resource pooling}. We extend this product form notion to independent set scheduling on perfect graphs, where we show that non-neighbouring queues are statistically independent. Finally, we analyse the large deviations behaviour of the equilibrium distribution of Store-Forward networks in order to construct Lyapunov functions for FIFO switch networks

Correction. Brownian models of open processing networks: canonical representation of workload

Due to a printing error the above mentioned article [Annals of Applied Probability 10 (2000) 75--103, doi:10.1214/aoap/1019737665] had numerous equations appearing incorrectly in the print version of this paper. The entire article follows as it should have appeared. IMS apologizes to the author and the readers for this error. A recent paper by Harrison and Van Mieghem explained in general mathematical terms how one forms an ``equivalent workload formulation'' of a Brownian network model. Denoting by $Z(t)$ the state vector of the original Brownian network, one has a lower dimensional state descriptor $W(t)=MZ(t)$ in the equivalent workload formulation, where $M$ can be chosen as any basis matrix for a particular linear space. This paper considers Brownian models for a very general class of open processing networks, and in that context develops a more extensive interpretation of the equivalent workload formulation, thus extending earlier work by Laws on alternate routing problems. A linear program called the static planning problem is introduced to articulate the notion of ``heavy traffic'' for a general open network, and the dual of that linear program is used to define a canonical choice of the basis matrix $M$. To be specific, rows of the canonical $M$ are alternative basic optimal solutions of the dual linear program. If the network data satisfy a natural monotonicity condition, the canonical matrix $M$ is shown to be nonnegative, and another natural condition is identified which ensures that $M$ admits a factorization related to the notion of resource pooling.Comment: Published at http://dx.doi.org/10.1214/105051606000000583 in the Annals of Applied Probability (http://www.imstat.org/aap/) by the Institute of Mathematical Statistics (http://www.imstat.org

Fluid and Diffusion Limits for Bike Sharing Systems

Bike sharing systems have rapidly developed around the world, and they are served as a promising strategy to improve urban traffic congestion and to decrease polluting gas emissions. So far performance analysis of bike sharing systems always exists many difficulties and challenges under some more general factors. In this paper, a more general large-scale bike sharing system is discussed by means of heavy traffic approximation of multiclass closed queueing networks with non-exponential factors. Based on this, the fluid scaled equations and the diffusion scaled equations are established by means of the numbers of bikes both at the stations and on the roads, respectively. Furthermore, the scaling processes for the numbers of bikes both at the stations and on the roads are proved to converge in distribution to a semimartingale reflecting Brownian motion (SRBM) in a $N^{2}$-dimensional box, and also the fluid and diffusion limit theorems are obtained. Furthermore, performance analysis of the bike sharing system is provided. Thus the results and methodology of this paper provide new highlight in the study of more general large-scale bike sharing systems.Comment: 34 pages, 1 figure

Selfish traffic allocation for server farms

We study the price of selfish routing in noncooperative networks like the Internet. In particular, we investigate the price of selfish routing using the price of anarchy (a.k.a. the coordination ratio) and other (e.g., bicriteria) measures in the recently introduced game theoretic parallel links network model of Koutsoupias and Papadimitriou. We generalize this model toward general, monotone families of cost functions and cost functions from queueing theory. A summary of our main results for general, monotone cost functions is as follows: 1. We give an exact characterization of all cost functions having a bounded/unbounded price of anarchy. For example, the price of anarchy for cost functions describing the expected delay in queueing systems is unbounded. 2. We show that an unbounded price of anarchy implies an extremely high performance degradation under bicriteria measures. In fact, the price of selfish routing can be as high as a bandwidth degradation by a factor that is linear in the network size. 3. We separate the game theoretic (integral) allocation model from the (fractional) flow model by demonstrating that even a very small or negligible amount of integrality can lead to a dramatic performance degradation. 4. We unify recent results on selfish routing under different objectives by showing that an unbounded price of anarchy under the min-max objective implies an unbounded price of anarchy under the average cost objective and vice versa. Our special focus lies on cost functions describing the behavior of Web servers that can open only a limited number of Transmission Control Protocol (TCP) connections. In particular, we compare the performance of queueing systems that serve all incoming requests with servers that reject requests in case of overload. Our analysis indicates that all queueing systems without rejection cannot give any reasonable guarantee on the expected delay of requests under selfish routing even when the injected load is far away from the capacity of the system. In contrast, Web server farms that are allowed to reject requests can guarantee a high quality of service for every individual request stream even under relatively high injection rates

A Survey on Delay-Aware Resource Control for Wireless Systems --- Large Deviation Theory, Stochastic Lyapunov Drift and Distributed Stochastic Learning

In this tutorial paper, a comprehensive survey is given on several major systematic approaches in dealing with delay-aware control problems, namely the equivalent rate constraint approach, the Lyapunov stability drift approach and the approximate Markov Decision Process (MDP) approach using stochastic learning. These approaches essentially embrace most of the existing literature regarding delay-aware resource control in wireless systems. They have their relative pros and cons in terms of performance, complexity and implementation issues. For each of the approaches, the problem setup, the general solution and the design methodology are discussed. Applications of these approaches to delay-aware resource allocation are illustrated with examples in single-hop wireless networks. Furthermore, recent results regarding delay-aware multi-hop routing designs in general multi-hop networks are elaborated. Finally, the delay performance of the various approaches are compared through simulations using an example of the uplink OFDMA systems.Comment: 58 pages, 8 figures; IEEE Transactions on Information Theory, 201

Performance Modelling and Optimisation of Multi-hop Networks

A major challenge in the design of large-scale networks is to predict and optimise the total time and energy consumption required to deliver a packet from a source node to a destination node. Examples of such complex networks include wireless ad hoc and sensor networks which need to deal with the effects of node mobility, routing inaccuracies, higher packet loss rates, limited or time-varying effective bandwidth, energy constraints, and the computational limitations of the nodes. They also include more reliable communication environments, such as wired networks, that are susceptible to random failures, security threats and malicious behaviours which compromise their quality of service (QoS) guarantees. In such networks, packets traverse a number of hops that cannot be determined in advance and encounter non-homogeneous network conditions that have been largely ignored in the literature. This thesis examines analytical properties of packet travel in large networks and investigates the implications of some packet coding techniques on both QoS and resource utilisation. Specifically, we use a mixed jump and diffusion model to represent packet traversal through large networks. The model accounts for network non-homogeneity regarding routing and the loss rate that a packet experiences as it passes successive segments of a source to destination route. A mixed analytical-numerical method is developed to compute the average packet travel time and the energy it consumes. The model is able to capture the effects of increased loss rate in areas remote from the source and destination, variable rate of advancement towards destination over the route, as well as of defending against malicious packets within a certain distance from the destination. We then consider sending multiple coded packets that follow independent paths to the destination node so as to mitigate the effects of losses and routing inaccuracies. We study a homogeneous medium and obtain the time-dependent properties of the packet’s travel process, allowing us to compare the merits and limitations of coding, both in terms of delivery times and energy efficiency. Finally, we propose models that can assist in the analysis and optimisation of the performance of inter-flow network coding (NC). We analyse two queueing models for a router that carries out NC, in addition to its standard packet routing function. The approach is extended to the study of multiple hops, which leads to an optimisation problem that characterises the optimal time that packets should be held back in a router, waiting for coding opportunities to arise, so that the total packet end-to-end delay is minimised