6,180 research outputs found
Towards formal models and languages for verifiable Multi-Robot Systems
Incorrect operations of a Multi-Robot System (MRS) may not only lead to
unsatisfactory results, but can also cause economic losses and threats to
safety. These threats may not always be apparent, since they may arise as
unforeseen consequences of the interactions between elements of the system.
This call for tools and techniques that can help in providing guarantees about
MRSs behaviour. We think that, whenever possible, these guarantees should be
backed up by formal proofs to complement traditional approaches based on
testing and simulation.
We believe that tailored linguistic support to specify MRSs is a major step
towards this goal. In particular, reducing the gap between typical features of
an MRS and the level of abstraction of the linguistic primitives would simplify
both the specification of these systems and the verification of their
properties. In this work, we review different agent-oriented languages and
their features; we then consider a selection of case studies of interest and
implement them useing the surveyed languages. We also evaluate and compare
effectiveness of the proposed solution, considering, in particular, easiness of
expressing non-trivial behaviour.Comment: Changed formattin
Smart Technologies for Environmental Safety and Knowledge Enhancement in Intermodal Transport
International concerns about security in transport systems are leading to a new international regulation in this field. This introduces new requirements for operators and authorities as well as it opens new challenges, in particular when referred to seaports and maritime transport in the Mediterranean area, where many seaport terminals and infrastructures are affected by a noteworthy technological divide from North European contexts. In such contexts, the adoption of the new regulations can represent the right chance for upgrading the local operative standards, increasing latu sensu the quality of maritime transport performances, while conferring a greater level to security and safety checks. This paper explores the chances for increasing the level of Mediterranean seaport competitiveness allowed by technological innovations in transport systems, both in operations and organization of these infrastructures. The aim of the work is to study the effects of the adoption of technological solutions such as wireless communications and radiofrequency identification on the competitiveness of Mediterranean seaport infrastructures. Technological solutions designed to identify good items help operators in organizing activities in terminals and make maritime transport faster in delivering goods, by cutting the handling time and costs in seaport terminals. Seaports that adopt this kind of technologies, and the surrounding economic areas connected to seaports, have a greater attractiveness on shipping companies and operators, since they allow faster handling activities and easier checks on goods. Besides, the analysis of direct and indirect effects of the use of such technologies specifically focuses on the contribution that the use of these solutions gives in ensuring higher security levels, by increasing the level of information and knowledge associated to goods. The different types of security provided (e.g. for people, environment and goods) and the extreme flexibility of the technologies involved give the overall worth of the challenge. It seems to be a great chance of growth for the Mediterranean area, more than a mere compliance to the international security regulations.
Scalable Approach to Uncertainty Quantification and Robust Design of Interconnected Dynamical Systems
Development of robust dynamical systems and networks such as autonomous
aircraft systems capable of accomplishing complex missions faces challenges due
to the dynamically evolving uncertainties coming from model uncertainties,
necessity to operate in a hostile cluttered urban environment, and the
distributed and dynamic nature of the communication and computation resources.
Model-based robust design is difficult because of the complexity of the hybrid
dynamic models including continuous vehicle dynamics, the discrete models of
computations and communications, and the size of the problem. We will overview
recent advances in methodology and tools to model, analyze, and design robust
autonomous aerospace systems operating in uncertain environment, with stress on
efficient uncertainty quantification and robust design using the case studies
of the mission including model-based target tracking and search, and trajectory
planning in uncertain urban environment. To show that the methodology is
generally applicable to uncertain dynamical systems, we will also show examples
of application of the new methods to efficient uncertainty quantification of
energy usage in buildings, and stability assessment of interconnected power
networks
Minimum-Cost Coverage of Point Sets by Disks
We consider a class of geometric facility location problems in which the goal
is to determine a set X of disks given by their centers (t_j) and radii (r_j)
that cover a given set of demand points Y in the plane at the smallest possible
cost. We consider cost functions of the form sum_j f(r_j), where f(r)=r^alpha
is the cost of transmission to radius r. Special cases arise for alpha=1 (sum
of radii) and alpha=2 (total area); power consumption models in wireless
network design often use an exponent alpha>2. Different scenarios arise
according to possible restrictions on the transmission centers t_j, which may
be constrained to belong to a given discrete set or to lie on a line, etc. We
obtain several new results, including (a) exact and approximation algorithms
for selecting transmission points t_j on a given line in order to cover demand
points Y in the plane; (b) approximation algorithms (and an algebraic
intractability result) for selecting an optimal line on which to place
transmission points to cover Y; (c) a proof of NP-hardness for a discrete set
of transmission points in the plane and any fixed alpha>1; and (d) a
polynomial-time approximation scheme for the problem of computing a minimum
cost covering tour (MCCT), in which the total cost is a linear combination of
the transmission cost for the set of disks and the length of a tour/path that
connects the centers of the disks.Comment: 10 pages, 4 figures, Latex, to appear in ACM Symposium on
Computational Geometry 200
Discrete Morse theory for computing cellular sheaf cohomology
Sheaves and sheaf cohomology are powerful tools in computational topology,
greatly generalizing persistent homology. We develop an algorithm for
simplifying the computation of cellular sheaf cohomology via (discrete)
Morse-theoretic techniques. As a consequence, we derive efficient techniques
for distributed computation of (ordinary) cohomology of a cell complex.Comment: 19 pages, 1 Figure. Added Section 5.
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