Interactive parallel simulation environments

Ph.D.Richard M. Fujimot

Dynamic Virtual Logical Processes

The implementation of a cloning mechanism that allows for the evaluation of multiple simulated futures is presented and its performance is analyzed. A running parallel discrete event simulation is dynamically cloned at decision points to explore different execution paths concurrently. In this way what-if and alternative scenario analysis in gaming, tactical and strategic applications can be evaluated interactively or non-interactively. Performance results show that virtual logical processes, a new mechanism developed to avoid repeating common computations among clones improves efficiency. 1 Introduction The goal of the research described here is to provide a decision aid that allows engineers and scientists to simulate complex situations and facilitate rapid and informed planning. Different possible futures are explored and compared by cloning an on-going parallel simulation. The tool supports critical decision making such as determining whether or not to mobilize reinforcements in a..

Social Potentials for Scalable Multi-Robot Formations

Potential function approaches to robot navigation provide an elegant paradigm for expressing multiple constraints and goals in mobile robot navigation problems [9]. As an example, a simple reactive navigation strategy can be generated by combining repulsion from obstacles with attraction to a goal. Advantages of this approach can also be extended to multi-robot teams. In this paper we present a new class of potential functions for multiple robots that enables homogeneous largescale robot teams to arrange themselves in geometric formations while navigating to a goal location through an obstacle field. The approach is inspired by the way molecules "snap" into place as they form crystals; the robots are drawn to particular "attachment sites" positioned with respect to other robots. We refer to these potential functions as "social potentials" because they are constructed with respect to other agents. Initial results, generated in simulation, illustrate the viability of the approach. 1 Int..

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We present a cloning mechanism that enables the evaluation of multiple simulated futures. Performance of the mechanism is analyzed and evaluated experimentally on a shared memory multiprocessor. A running parallel discrete event simulation is dynamically cloned at decision points to explore different execution paths concurrently. In this way, what-if and alternative scenario analysis can be performed in applications such as gaming or tactical and strategic battle management. A construct called virtual logical processes avoids repeating common computations among clones and improves efficiency. The advantages of cloning are preserved regardless of the number of clones (or execution paths). Our performance results with a commercial air traffic control simulation demonstrate that cloning can significantly reduce the time required to compute multiple alternate futures