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

Asymptotically Optimal Load Balancing Topologies

We consider a system of $N$ servers inter-connected by some underlying graph topology $G_N$. Tasks arrive at the various servers as independent Poisson processes of rate $\lambda$. Each incoming task is irrevocably assigned to whichever server has the smallest number of tasks among the one where it appears and its neighbors in $G_N$. Tasks have unit-mean exponential service times and leave the system upon service completion. The above model has been extensively investigated in the case $G_N$ is a clique. Since the servers are exchangeable in that case, the queue length process is quite tractable, and it has been proved that for any $\lambda < 1$, the fraction of servers with two or more tasks vanishes in the limit as $N \to \infty$. For an arbitrary graph $G_N$, the lack of exchangeability severely complicates the analysis, and the queue length process tends to be worse than for a clique. Accordingly, a graph $G_N$ is said to be $N$-optimal or $\sqrt{N}$-optimal when the occupancy process on $G_N$ is equivalent to that on a clique on an $N$-scale or $\sqrt{N}$-scale, respectively. We prove that if $G_N$ is an Erd\H{o}s-R\'enyi random graph with average degree $d(N)$, then it is with high probability $N$-optimal and $\sqrt{N}$-optimal if $d(N) \to \infty$ and $d(N) / (\sqrt{N} \log(N)) \to \infty$ as $N \to \infty$, respectively. This demonstrates that optimality can be maintained at $N$-scale and $\sqrt{N}$-scale while reducing the number of connections by nearly a factor $N$ and $\sqrt{N} / \log(N)$ compared to a clique, provided the topology is suitably random. It is further shown that if $G_N$ contains $\Theta(N)$ bounded-degree nodes, then it cannot be $N$-optimal. In addition, we establish that an arbitrary graph $G_N$ is $N$-optimal when its minimum degree is $N - o(N)$, and may not be $N$-optimal even when its minimum degree is $c N + o(N)$ for any $0 < c < 1/2$.Comment: A few relevant results from arXiv:1612.00723 are included for convenienc

EUROPEAN CONFERENCE ON QUEUEING THEORY 2016

International audienceThis booklet contains the proceedings of the second European Conference in Queueing Theory (ECQT) that was held from the 18th to the 20th of July 2016 at the engineering school ENSEEIHT, Toulouse, France. ECQT is a biannual event where scientists and technicians in queueing theory and related areas get together to promote research, encourage interaction and exchange ideas. The spirit of the conference is to be a queueing event organized from within Europe, but open to participants from all over the world. The technical program of the 2016 edition consisted of 112 presentations organized in 29 sessions covering all trends in queueing theory, including the development of the theory, methodology advances, computational aspects and applications. Another exciting feature of ECQT2016 was the institution of the Takács Award for outstanding PhD thesis on "Queueing Theory and its Applications"

Human activity modeling and Barabasi's queueing systems

It has been shown by A.-L. Barabasi that the priority based scheduling rules in single stage queuing systems (QS) generates fat tail behavior for the tasks waiting time distributions (WTD). Such fat tails are due to the waiting times of very low priority tasks which stay unserved almost forever as the task priority indices (PI) are "frozen in time" (i.e. a task priority is assigned once for all to each incoming task). Relaxing the "frozen in time" assumption, this paper studies the new dynamic behavior expected when the priority of each incoming tasks is time-dependent (i.e. "aging mechanisms" are allowed). For two class of models, namely 1) a population type model with an age structure and 2) a QS with deadlines assigned to the incoming tasks which is operated under the "earliest-deadline-first" policy, we are able to analytically extract some relevant characteristics of the the tasks waiting time distribution. As the aging mechanism ultimately assign high priority to any long waiting tasks, fat tails in the WTD cannot find their origin in the scheduling rule alone thus showing a fundamental difference between the present and the A.-L. Barabasi's class of models.Comment: 16 pages, 2 figure