150 research outputs found

    Self-triggered rendezvous of gossiping second-order agents

    Get PDF
    A recent paper by some of the authors introduced several self-triggered coordination algorithms for first-order continuous-time systems. The extension of these algorithms to second-order agents is relevant in many practical applications but presents some challenges that are tackled in this contribution and that require to depart from the analysis that was carried out before. We design a self-triggered gossiping coordination algorithm that induces a time-varying communication graph, which is enough connected to guarantee useful convergence properties, and allows us to achieve the desired coordination task in a formation of double-integrator agents that (i) establish pair-wise communication at suitably designed times and (ii) exchange relative measurements while reducing the sensing and communication effort

    Continuous-Time Consensus under Non-Instantaneous Reciprocity

    Full text link
    We consider continuous-time consensus systems whose interactions satisfy a form or reciprocity that is not instantaneous, but happens over time. We show that these systems have certain desirable properties: They always converge independently of the specific interactions taking place and there exist simple conditions on the interactions for two agents to converge to the same value. This was until now only known for systems with instantaneous reciprocity. These result are of particular relevance when analyzing systems where interactions are a priori unknown, being for example endogenously determined or random. We apply our results to an instance of such systems.Comment: 12 pages, 4 figure

    Improving the Scalability of DPWS-Based Networked Infrastructures

    Full text link
    The Devices Profile for Web Services (DPWS) specification enables seamless discovery, configuration, and interoperability of networked devices in various settings, ranging from home automation and multimedia to manufacturing equipment and data centers. Unfortunately, the sheer simplicity of event notification mechanisms that makes it fit for resource-constrained devices, makes it hard to scale to large infrastructures with more stringent dependability requirements, ironically, where self-configuration would be most useful. In this report, we address this challenge with a proposal to integrate gossip-based dissemination in DPWS, thus maintaining compatibility with original assumptions of the specification, and avoiding a centralized configuration server or custom black-box middleware components. In detail, we show how our approach provides an evolutionary and non-intrusive solution to the scalability limitations of DPWS and experimentally evaluate it with an implementation based on the the Web Services for Devices (WS4D) Java Multi Edition DPWS Stack (JMEDS).Comment: 28 pages, Technical Repor

    Routing Protocols in Wireless Sensor Networks

    Get PDF
    The applications of wireless sensor networks comprise a wide variety of scenarios. In most of them, the network is composed of a significant number of nodes deployed in an extensive area in which not all nodes are directly connected. Then, the data exchange is supported by multihop communications. Routing protocols are in charge of discovering and maintaining the routes in the network. However, the appropriateness of a particular routing protocol mainly depends on the capabilities of the nodes and on the application requirements. This paper presents a review of the main routing protocols proposed for wireless sensor networks. Additionally, the paper includes the efforts carried out by Spanish universities on developing optimization techniques in the area of routing protocols for wireless sensor networks

    Want to Gather? No Need to Chatter!

    Get PDF
    A team of mobile agents, starting from different nodes of an unknown network, possibly at different times, have to meet at the same node and declare that they have all met. Agents have different labels and move in synchronous rounds along links of the network. The above task is known as gathering and was traditionally considered under the assumption that when some agents are at the same node then they can talk. In this paper we ask the question of whether this ability of talking is needed for gathering. The answer turns out to be no. Our main contribution are two deterministic algorithms that always accomplish gathering in a much weaker model. We only assume that at any time an agent knows how many agents are at the node that it currently occupies but agents do not see the labels of other co-located agents and cannot exchange any information with them. They also do not see other nodes than the current one. Our first algorithm works under the assumption that agents know a priori some upper bound N on the network size, and it works in time polynomial in N and in the length l of the smallest label. Our second algorithm does not assume any a priori knowledge about the network but its complexity is exponential in the network size and in the labels of agents. Its purpose is to show feasibility of gathering under this harsher scenario. As a by-product of our techniques we obtain, in the same weak model, the solution of the fundamental problem of leader election among agents. As an application of our result we also solve, in the same model, the well-known gossiping problem: if each agent has a message at the beginning, we show how to make all messages known to all agents, even without any a priori knowledge about the network. If agents know an upper bound N on the network size then our gossiping algorithm works in time polynomial in N, in l and in the length of the largest message

    Want to Gather? No Need to Chatter!

    Get PDF
    A team of mobile agents, starting from different nodes of an unknown network, possibly at different times, have to meet at the same node and declare that they have all met. Agents have different labels which are positive integers, and move in synchronous rounds along links of the network. The above task is known as gathering and was traditionally considered under the assumption that when some agents are at the same node then they can talk, i.e., exchange currently available information. In this paper we ask the question of whether this ability of talking is needed for gathering. The answer turns out to be no. Our main contribution are two deterministic algorithms that always accomplish gathering in a much weaker model. We only assume that at any time an agent knows how many agents are at the node that it currently occupies but agents do not see the labels of other co-located agents and cannot exchange any information with them. They also do not see other nodes than the current one. Our first algorithm works under the assumption that agents know a priori some upper bound N on the size of the network, and it works in time polynomial in N and in the length of the smallest label. Our second algorithm does not assume any a priori knowledge about the network but its complexity is exponential in the size of the network and in the labels of agents. Its purpose is to show feasibility of gathering under this harsher scenario. As a by-product of our techniques we obtain, in the same weak model, the solution of the fundamental problem of leader election among agents: One agent is elected a leader and all agents learn its identity. As an application of our result we also solve, in the same model, the well-known gossiping problem: if each agent has a message at the beginning, we show how to make all messages known to all agents, even without any a priori knowledge about the network. If agents know an upper bound N on the size of the network then our gossiping algorithm works in time polynomial in N , in the length of the smallest label and in the length of the largest message. This result about gossiping is perhaps our most surprising finding: agents devoid of any transmitting devices can solve the most general information exchange problem, as long as they can count the number of agents present at visited nodes
    • 

    corecore