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

Real Time in Plan 9

We describe our experience with the implementation and use of a hard-real-time scheduler for use in Plan 9 as an embedded operating system

The Lock-free kk-LSM Relaxed Priority Queue

Priority queues are data structures which store keys in an ordered fashion to allow efficient access to the minimal (maximal) key. Priority queues are essential for many applications, e.g., Dijkstra's single-source shortest path algorithm, branch-and-bound algorithms, and prioritized schedulers. Efficient multiprocessor computing requires implementations of basic data structures that can be used concurrently and scale to large numbers of threads and cores. Lock-free data structures promise superior scalability by avoiding blocking synchronization primitives, but the \emph{delete-min} operation is an inherent scalability bottleneck in concurrent priority queues. Recent work has focused on alleviating this obstacle either by batching operations, or by relaxing the requirements to the \emph{delete-min} operation. We present a new, lock-free priority queue that relaxes the \emph{delete-min} operation so that it is allowed to delete \emph{any} of the $\rho+1$ smallest keys, where $\rho$ is a runtime configurable parameter. Additionally, the behavior is identical to a non-relaxed priority queue for items added and removed by the same thread. The priority queue is built from a logarithmic number of sorted arrays in a way similar to log-structured merge-trees. We experimentally compare our priority queue to recent state-of-the-art lock-free priority queues, both with relaxed and non-relaxed semantics, showing high performance and good scalability of our approach.Comment: Short version as ACM PPoPP'15 poste

Single-Producer/Single-Consumer Queues on Shared Cache Multi-Core Systems

Using efficient point-to-point communication channels is critical for implementing fine grained parallel program on modern shared cache multi-core architectures. This report discusses in detail several implementations of wait-free Single-Producer/Single-Consumer queue (SPSC), and presents a novel and efficient algorithm for the implementation of an unbounded wait-free SPSC queue (uSPSC). The correctness proof of the new algorithm, and several performance measurements based on simple synthetic benchmark and microbenchmark, are also discussed

The Longest Queue Drop Policy for Shared-Memory Switches is 1.5-competitive

We consider the Longest Queue Drop memory management policy in shared-memory switches consisting of $N$ output ports. The shared memory of size $M\geq N$ may have an arbitrary number of input ports. Each packet may be admitted by any incoming port, but must be destined to a specific output port and each output port may be used by only one queue. The Longest Queue Drop policy is a natural online strategy used in directing the packet flow in buffering problems. According to this policy and assuming unit packet values and cost of transmission, every incoming packet is accepted, whereas if the shared memory becomes full, one or more packets belonging to the longest queue are preempted, in order to make space for the newly arrived packets. It was proved in 2001 [Hahne et al., SPAA '01] that the Longest Queue Drop policy is 2-competitive and at least $\sqrt{2}$-competitive. It remained an open question whether a (2-\epsilon) upper bound for the competitive ratio of this policy could be shown, for any positive constant \epsilon. We show that the Longest Queue Drop online policy is 1.5-competitive