Towards trusted volunteer grid environments

Intensive experiences show and confirm that grid environments can be considered as the most promising way to solve several kinds of problems relating either to cooperative work especially where involved collaborators are dispersed geographically or to some very greedy applications which require enough power of computing or/and storage. Such environments can be classified into two categories; first, dedicated grids where the federated computers are solely devoted to a specific work through its end. Second, Volunteer grids where federated computers are not completely devoted to a specific work but instead they can be randomly and intermittently used, at the same time, for any other purpose or they can be connected or disconnected at will by their owners without any prior notification. Each category of grids includes surely several advantages and disadvantages; nevertheless, we think that volunteer grids are very promising and more convenient especially to build a general multipurpose distributed scalable environment. Unfortunately, the big challenge of such environments is, however, security and trust. Indeed, owing to the fact that every federated computer in such an environment can randomly be used at the same time by several users or can be disconnected suddenly, several security problems will automatically arise. In this paper, we propose a novel solution based on identity federation, agent technology and the dynamic enforcement of access control policies that lead to the design and implementation of trusted volunteer grid environments.Comment: 9 Pages, IJCNC Journal 201

Principles and Concepts of Agent-Based Modelling for Developing Geospatial Simulations

The aim of this paper is to outline fundamental concepts and principles of the Agent-Based Modelling (ABM) paradigm, with particular reference to the development of geospatial simulations. The paper begins with a brief definition of modelling, followed by a classification of model types, and a comment regarding a shift (in certain circumstances) towards modelling systems at the individual-level. In particular, automata approaches (e.g. Cellular Automata, CA, and ABM) have been particularly popular, with ABM moving to the fore. A definition of agents and agent-based models is given; identifying their advantages and disadvantages, especially in relation to geospatial modelling. The potential use of agent-based models is discussed, and how-to instructions for developing an agent-based model are provided. Types of simulation / modelling systems available for ABM are defined, supplemented with criteria to consider before choosing a particular system for a modelling endeavour. Information pertaining to a selection of simulation / modelling systems (Swarm, MASON, Repast, StarLogo, NetLogo, OBEUS, AgentSheets and AnyLogic) is provided, categorised by their licensing policy (open source, shareware / freeware and proprietary systems). The evaluation (i.e. verification, calibration, validation and analysis) of agent-based models and their output is examined, and noteworthy applications are discussed.Geographical Information Systems (GIS) are a particularly useful medium for representing model input and output of a geospatial nature. However, GIS are not well suited to dynamic modelling (e.g. ABM). In particular, problems of representing time and change within GIS are highlighted. Consequently, this paper explores the opportunity of linking (through coupling or integration / embedding) a GIS with a simulation / modelling system purposely built, and therefore better suited to supporting the requirements of ABM. This paper concludes with a synthesis of the discussion that has proceeded. The aim of this paper is to outline fundamental concepts and principles of the Agent-Based Modelling (ABM) paradigm, with particular reference to the development of geospatial simulations. The paper begins with a brief definition of modelling, followed by a classification of model types, and a comment regarding a shift (in certain circumstances) towards modelling systems at the individual-level. In particular, automata approaches (e.g. Cellular Automata, CA, and ABM) have been particularly popular, with ABM moving to the fore. A definition of agents and agent-based models is given; identifying their advantages and disadvantages, especially in relation to geospatial modelling. The potential use of agent-based models is discussed, and how-to instructions for developing an agent-based model are provided. Types of simulation / modelling systems available for ABM are defined, supplemented with criteria to consider before choosing a particular system for a modelling endeavour. Information pertaining to a selection of simulation / modelling systems (Swarm, MASON, Repast, StarLogo, NetLogo, OBEUS, AgentSheets and AnyLogic) is provided, categorised by their licensing policy (open source, shareware / freeware and proprietary systems). The evaluation (i.e. verification, calibration, validation and analysis) of agent-based models and their output is examined, and noteworthy applications are discussed.Geographical Information Systems (GIS) are a particularly useful medium for representing model input and output of a geospatial nature. However, GIS are not well suited to dynamic modelling (e.g. ABM). In particular, problems of representing time and change within GIS are highlighted. Consequently, this paper explores the opportunity of linking (through coupling or integration / embedding) a GIS with a simulation / modelling system purposely built, and therefore better suited to supporting the requirements of ABM. This paper concludes with a synthesis of the discussion that has proceeded

Safe, Remote-Access Swarm Robotics Research on the Robotarium

This paper describes the development of the Robotarium -- a remotely accessible, multi-robot research facility. The impetus behind the Robotarium is that multi-robot testbeds constitute an integral and essential part of the multi-agent research cycle, yet they are expensive, complex, and time-consuming to develop, operate, and maintain. These resource constraints, in turn, limit access for large groups of researchers and students, which is what the Robotarium is remedying by providing users with remote access to a state-of-the-art multi-robot test facility. This paper details the design and operation of the Robotarium as well as connects these to the particular considerations one must take when making complex hardware remotely accessible. In particular, safety must be built in already at the design phase without overly constraining which coordinated control programs the users can upload and execute, which calls for minimally invasive safety routines with provable performance guarantees.Comment: 13 pages, 7 figures, 3 code samples, 72 reference

Using Pilot Systems to Execute Many Task Workloads on Supercomputers

High performance computing systems have historically been designed to support applications comprised of mostly monolithic, single-job workloads. Pilot systems decouple workload specification, resource selection, and task execution via job placeholders and late-binding. Pilot systems help to satisfy the resource requirements of workloads comprised of multiple tasks. RADICAL-Pilot (RP) is a modular and extensible Python-based pilot system. In this paper we describe RP's design, architecture and implementation, and characterize its performance. RP is capable of spawning more than 100 tasks/second and supports the steady-state execution of up to 16K concurrent tasks. RP can be used stand-alone, as well as integrated with other application-level tools as a runtime system

Statistical analysis of chemical computational systems with MULTIVESTA and ALCHEMIST

The chemical-oriented approach is an emerging paradigm for programming the behaviour of densely distributed and context-aware devices (e.g. in ecosystems of displays tailored to crowd steering, or to obtain profile-based coordinated visualization). Typically, the evolution of such systems cannot be easily predicted, thus making of paramount importance the availability of techniques and tools supporting prior-to-deployment analysis. Exact analysis techniques do not scale well when the complexity of systems grows: as a consequence, approximated techniques based on simulation assumed a relevant role. This work presents a new simulation-based distributed tool addressing the statistical analysis of such a kind of systems, which has been obtained by chaining two existing tools: MultiVeStA and Alchemist. The former is a recently proposed lightweight tool which allows to enrich existing discrete event simulators with distributed statistical analysis capabilities, while the latter is an efficient simulator for chemical-oriented computational systems. The tool is validated against a crowd steering scenario, and insights on the performance are provided by discussing how these scale distributing the analysis tasks on a multi-core architecture

Crowdsourcing Swarm Manipulation Experiments: A Massive Online User Study with Large Swarms of Simple Robots

Micro- and nanorobotics have the potential to revolutionize many applications including targeted material delivery, assembly, and surgery. The same properties that promise breakthrough solutions---small size and large populations---present unique challenges to generating controlled motion. We want to use large swarms of robots to perform manipulation tasks; unfortunately, human-swarm interaction studies as conducted today are limited in sample size, are difficult to reproduce, and are prone to hardware failures. We present an alternative. This paper examines the perils, pitfalls, and possibilities we discovered by launching SwarmControl.net, an online game where players steer swarms of up to 500 robots to complete manipulation challenges. We record statistics from thousands of players, and use the game to explore aspects of large-population robot control. We present the game framework as a new, open-source tool for large-scale user experiments. Our results have potential applications in human control of micro- and nanorobots, supply insight for automatic controllers, and provide a template for large online robotic research experiments.Comment: 8 pages, 13 figures, to appear at 2014 IEEE International Conference on Robotics and Automation (ICRA 2014

A Planning Pipeline for Large Multi-Agent Missions

In complex multi-agent applications, human operators are often tasked with planning and managing large heterogeneous teams of humans and autonomous vehicles. Although the use of these autonomous vehicles broadens the scope of meaningful applications, many of their systems remain unintuitive and difficult to master for human operators whose expertise lies in the application domain and not at the platform level. Current research focuses on the development of individual capabilities necessary to plan multi-agent missions of this scope, placing little emphasis on the integration of these components in to a full pipeline. The work presented in this paper presents a complete and user-agnostic planning pipeline for large multiagent missions known as the HOLII GRAILLE. The system takes a holistic approach to mission planning by integrating capabilities in human machine interaction, flight path generation, and validation and verification. Components modules of the pipeline are explored on an individual level, as well as their integration into a whole system. Lastly, implications for future mission planning are discussed