GRAPHICAL CONFIGURATION PROGRAMMING - THE STRUCTURAL DESCRIPTION, CONSTRUCTION AND EVOLUTION OF SOFTWARE SYSTEMS USING GRAPHICS

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Tools for distributed application management

Distributed application management consists of monitoring and controlling an application as it executes in a distributed environment. It encompasses such activities as configuration, initialization, performance monitoring, resource scheduling, and failure response. The Meta system (a collection of tools for constructing distributed application management software) is described. Meta provides the mechanism, while the programmer specifies the policy for application management. The policy is manifested as a control program which is a soft real-time reactive program. The underlying application is instrumented with a variety of built-in and user-defined sensors and actuators. These define the interface between the control program and the application. The control program also has access to a database describing the structure of the application and the characteristics of its environment. Some of the more difficult problems for application management occur when preexisting, nondistributed programs are integrated into a distributed application for which they may not have been intended. Meta allows management functions to be retrofitted to such programs with a minimum of effort

Distributed Collision-Free Motion Coordination on a Sphere: A Conic Control Barrier Function Approach

This letter studies a distributed collision avoidance control problem for a group of rigid bodies on a sphere. A rigid body network, consisting of multiple rigid bodies constrained to a spherical surface and an interconnection topology, is first formulated. In this formulation, it is shown that motion coordination on a sphere is equivalent to attitude coordination on the 3-dimensional Special Orthogonal group. Then, an angle-based control barrier function that can handle a geodesic distance constraint on a spherical surface is presented. The proposed control barrier function is then extended to a relative motion case and applied to a collision avoidance problem for a rigid body network operating on a sphere. Each rigid body chooses its control input by solving a distributed optimization problem to achieve a nominal distributed motion coordination strategy while satisfying constraints for collision avoidance. The proposed collision-free motion coordination law is validated via simulation

THE EVOLVING PHILOSOPHERS PROBLEM - DYNAMIC CHANGE MANAGEMENT

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Flocking with Obstacle Avoidance

In this paper, we provide a dynamic graph theoretical framework for flocking in presence of multiple obstacles. In particular, we give formal definitions of nets and flocks as spatially induced graphs. We provide models of nets and flocks and discuss the realization/embedding issues related to structural nets and flocks. This allows task representation and execution for a network of agents called alpha-agents. We also consider flocking in the presence of multiple obstacles. This task is achieved by introducing two other types of agents called beta-agents and gamma-agents. This framework enables us to address split/rejoin and squeezing maneuvers for nets/flocks of dynamic agents that communicate with each other. The problems arising from switching topology of these networks of mobile agents make the analysis and design of the decision-making protocols for such networks rather challenging. We provide simulation results that demonstrate the effectiveness of our theoretical and computational tools

Achieving Non-Zero Information Velocity in Wireless Networks

In wireless networks, where each node transmits independently of other nodes in the network (the ALOHA protocol), the expected delay experienced by a packet until it is successfully received at any other node is known to be infinite for signal-to-interference-plus-noise-ratio (SINR) model with node locations distributed according to a Poisson point process. Consequently, the information velocity, defined as the limit of the ratio of the distance to the destination and the time taken for a packet to successfully reach the destination over multiple hops, is zero, as the distance tends to infinity. A nearest neighbor distance based power control policy is proposed to show that the expected delay required for a packet to be successfully received at the nearest neighbor can be made finite. Moreover, the information velocity is also shown to be non-zero with the proposed power control policy. The condition under which these results hold does not depend on the intensity of the underlying Poisson point process.Comment: to appear in Annals of Applied Probabilit