338 research outputs found
LIPIcs, Volume 251, ITCS 2023, Complete Volume
LIPIcs, Volume 251, ITCS 2023, Complete Volum
Farming out : a study.
Farming is one of severals ways of arranging for a group of individuals to perform work simultaneously. Farming is attractive. It is a simple concept, and yet it allocates work dynamically, balancing the load automatically. This gives rise to potentially great efficiency; yet the range of applications that can be farmed efficiently and which implementation strategies are the most effective has not been classified.
This research has investigated the types of application, design and implementation that farm efficiently on computer systems constructed from a network of communicating parallel processors. This research shows that all applications can be farmed and identifies those concerns that dictate efficiency. For the first generation of transputer hardware, extensive experiments have been performed using Occam, independent of any specific application. This study identified the boundary conditions that dictate which design parameters farm efficiently. These boundary conditions are expressed in a general form that is directly amenable to other architectures. The specific quantitative results are of direct use to others who wish to implement farms on this architecture.
Because of farming’s simplicity and potential for high efficiency, this work concludes that architects of parallel hardware should consider binding this paradigm into future systems so as to enable the dynamic allocation of processes to processors to take place automatically. As well as resulting in high levels of machine utilisation for all programs, this would also permanently remove the burden of allocation from the programmer
LIPIcs, Volume 261, ICALP 2023, Complete Volume
LIPIcs, Volume 261, ICALP 2023, Complete Volum
Towards full-scale autonomy for multi-vehicle systems planning and acting in extreme environments
Currently, robotic technology offers flexible platforms for addressing many challenging problems that arise in extreme environments. These problems’ nature enhances
the use of heterogeneous multi-vehicle systems which can coordinate and collaborate
to achieve a common set of goals. While such applications have previously been
explored in limited contexts, long-term deployments in such settings often require
an advanced level of autonomy to maintain operability.
The success of planning and acting approaches for multi-robot systems are conditioned by including reasoning regarding temporal, resource and knowledge requirements, and world dynamics. Automated planning provides the tools to enable intelligent behaviours in robotic systems. However, whilst many planning approaches and
plan execution techniques have been proposed, these solutions highlight an inability
to consistently build and execute high-quality plans.
Motivated by these challenges, this thesis presents developments advancing state-of-the-art temporal planning and acting to address multi-robot problems. We propose a set of advanced techniques, methods and tools to build a high-level temporal
planning and execution system that can devise, execute and monitor plans suitable for long-term missions in extreme environments. We introduce a new task
allocation strategy, called HRTA, that optimises the task distribution amongst the
heterogeneous fleet, relaxes the planning problem and boosts the plan search. We
implement the TraCE planner that enforces contingent planning considering propositional temporal and numeric constraints to deal with partial observability about
the initial state. Our developments regarding robust plan execution and mission
adaptability include the HLMA, which efficiently optimises the task allocation and
refines the planning model considering the experience from robots’ previous mission
executions. We introduce the SEA failure solver that, combined with online planning, overcomes unexpected situations during mission execution, deals with joint
goals implementation, and enhances mission operability in long-term deployments.
Finally, we demonstrate the efficiency of our approaches with a series of experiments
using a new set of real-world planning domains.Engineering and Physical Sciences Research Council (EPSRC) grant EP/R026173/
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