检索结果-内蒙古大学图书馆

作者： Andre Naz UNIVERSITE BOURGOGNE FRANCHE-COMTE

学位级别：博士

Technological advances, especially in the miniaturization of robotic devices foreshadow the emergence of large-scale ensembles of small-size resource-constrained robots that distributively cooperate to achieve complex tasks (e. g., modular self-reconfigurable robots, swarm robotic systems, distributed microelectromechanical systems, etc.). These ensembles are formed by independent, intelligent and communicating units which act as a whole ensemble. These units cooperatively self-organize themselves to achieve common goals. These systems are thought to be more versatile and more robust than conventional robotic systems while having at the same time a lower cost. These ensembles form complex asynchronous distributed systems in which every unit is an embedded system with its own but limited capabilities. Coordination of such large- scale distributed embedded systems poses significant algorithmic issues and open new opportunities in distributed algorithms. In my thesis, I defend the idea that distributed algorithmic primitives suitable for the coordination of these ensembles should be both identified and designed. In this work, we focus on a specific class of modular robotic systems, namely large-scale distributed modular robotic ensembles composed of resource-constrained modules that are organized in a lattice structure and which can only communicate with neighboring modules. We identified and implemented three building blocks, namely centrality-based leader election, time synchronization and self-reconfiguration. We propose a collection of distributed algorithms to realize these primitives. We evaluate them using both hardware experiments and simulations on systems ranging from a dozen modules to more than ten thousand modules. We show that our algorithms scale well and are suitable for large-scale embedded distributed systems with scarce memory and computing resources.

关键词： distributed algorithms Modular robotics Centrality-based leader election Time synchronization Self-reconfiguration

来源：评论

学校读者我要写书评

暂无评论

distributed algorithms for Shape Sculpting of Lattice-Arrayed Modular Robots via Hole Motion

Distributed Algorithms for Shape Sculpting of Lattice-Arraye...

引用

10th IEEE International Conference on Control and Automation (IEEE ICCA)

作者： Zhu, Jingwei Chen, Michael Z. Q. Su, Housheng Univ Hong Kong Dept Mech Engn Hong Kong Hong Kong Peoples R China Huazhong Univ Sci & Technol Dept Control Sci & Engn Huazhong Peoples R China

ISBN: (纸本)9781467347082;9781467347075

A self-reconfigurable modular robot can change its own shape by rearranging the connectivity of the modules of which it is composed. In this paper, we focus on a two-dimensional lattice-arrayed self-reconfigurable modular robotic system. Each module can move to a neighboring lattice under certain motion constraints, communicate with its neighbors and act upon local knowledge only. A scalable shape sculpting algorithm based on the manipulation of regularly shaped voids within the lattice ("holes") is given. We present detailed solutions to the conflict test and settlement problem encountered when applying this algorithm, and make improvement on the efficiency of shape sculpting. We believe that the algorithm can potentially generalize to 3D and scale to handle millions of modules.

关键词： distributed algorithms multi-robot systems

来源：评论

学校读者我要写书评

暂无评论

distributed algorithms for Joint Routing and Frame Aggregation in 802.11n Wireless Mesh Networks

Distributed Algorithms for Joint Routing and Frame Aggregati...

引用

IEEE 27th International Parallel and distributed Processing Symposium (IPDPS)

作者： Gong, Dawei Yang, Yuanyuan SUNY Stony Brook Dept Elect & Comp Engn Stony Brook NY 11794 USA

ISBN: (纸本)9780769549712

A wireless mesh network (WMN) is a special type of wireless ad-hoc network, which consists of mesh clients, mesh routers and gateways to the Internet, organized in a mesh topology. The mesh clients are often laptops, cell phones and other wireless devices. Mesh routers forward traffic between mesh clients and gateways. Despite a number of promising features provided by WMNs, such as low deployment cost, self-healing, etc., the throughput of WMNs is often limited by severe congestion and collisions, and thus cannot satisfy the increasing traffic demands of numerous applications. In this paper, we study how to maximize the throughput of IEEE 802.11n WMNs by joint routing and frame aggregation. Frame aggregation is to aggregate multiple frames into a large frame before transmission, to reduce communication overhead and alleviate collisions. We first show that previous frame aggregation strategies cannot achieve optimal network throughput. We then formulate the joint problem into a linear programming (LP) problem by considering traffic in the network as flow. As most previous algorithms for LP are centralized and difficult to deploy in large-scale WMNs, we propose a distributed algorithm to solve the formulated problem, in which each mesh router determines the amount of traffic flow for its adjacent links based on the traffic information of neighbors and interfering links. However, in realistic 802.11n WMNs, traffic is transmitted in frames instead of flow, and the traffic to different routers needs to be distinguished. Thus, we further provide an algorithm to determine the routing and frame aggregation strategy for each mesh router, using the traffic flow derived from the first algorithm. We have conducted extensive simulations to evaluate the proposed algorithms and the results demonstrate that the network throughput can be significantly improved compared with existing schemes.

关键词： distributed algorithms IEEE 802.11n Wireless mesh networks (WMNs) Routing Frame aggregation

来源：评论

学校读者我要写书评

暂无评论

distributed algorithms for the Graph Biconnectivity and Least Common Ancestor Problems 36

Distributed Algorithms for the Graph Biconnectivity and Leas...

引用

36th IEEE International Parallel and distributed Processing Symposium (IEEE IPDPS)

作者： Bogle, Ian Slota, George M. Rensselaer Polytech Inst Comp Sci Dept Troy NY 12180 USA

ISBN: (纸本)9781665497473

Graph connectivity analysis is one of the primary ways to analyze the topological structure of social networks. Graph biconnectivity decompositions are of particular interest due to how they identify cut vertices and cut edges in a network. We present the first, to our knowledge, implementation of a distributed-memory parallel biconnectivity algorithm. As part of our algorithm, we also require the computation of least common ancestors (LCAs) of non-tree edge endpoints in a BFS tree. As such, we also propose a novel distributed algorithm for the LCA problem. Using our implementations, we observe up to a 14.8 x speedup from 1 to 128 MPI ranks for computing a biconnectivity decomposition.

关键词： distributed processing Social networking (online) Conferences distributed algorithms

来源：评论

学校读者我要写书评

暂无评论

distributed algorithms for Solving Locally Coupled Optimization Problems on Agent Networks 57

Distributed Algorithms for Solving Locally Coupled Optimizat...

引用

57th IEEE Conference on Decision and Control (CDC)

作者： Hu, Jianghai Xiao, Yingying Liu, Ji Purdue Univ Sch Elect & Comp Engn W Lafayette IN 47907 USA SUNY Stony Brook Dept Elect & Comp Engn Stony Brook NY 11794 USA

ISBN: (纸本)9781538613955

In this paper, we study the optimization problems for a group of agents whose individual objective functions and constraints may depend on the variables of neighboring agents. Several algorithms are proposed based on operator splitting techniques that can iteratively converge to an optimal primal (or dual) solution of the optimization problems. Then, via random coordinate updates, asynchronous implementations of the algorithms are developed with low computation and communication complexity and guaranteed almost sure convergence to an optimal solution. Numerical results are presented to illustrate the proposed algorithms.

关键词： Optimization Linear programming Convergence Nickel distributed algorithms Conferences Complexity theory

来源：评论

学校读者我要写书评

暂无评论

distributed algorithms and advanced modeling approaches for fast and efficient object construction using a modular self-reconfigurable robotic system

Distributed algorithms and advanced modeling approaches for ...

引用

作者： Thalamy, Pierre

学位级别：博士

Les humains ont de tout temps cherché à contrôler leur environnement. Mais avec l'arrivée de l'ère numérique, une technologie émergente promet de devenir l'outil ultime d... 详细信息

Les humains ont de tout temps cherché à contrôler leur environnement. Mais avec l'arrivée de l'ère numérique, une technologie émergente promet de devenir l'outil ultime de cette quête : la matière programmable. Bien que toute forme de matière pouvant être programmée pour réagir de façon autonome à un stimulus puisse prétendre à cette dénomination, son substrat le plus prometteur réside dans les systèmes robotiques modulaires. Ces systèmes robotiques sont composés de modules interconnectés, autonomes, et aux ressources limitées, devant se coordonner par leurs communications et leurs mouvements afin d'accomplir des tâches *** matière programmable pourrait être utilisée pour réaliser les systèmes de représentation de demain: des affichages tangibles et interactifs en 3D, qui promettent de révolutionner la façon dont nous interagissons avec le monde virtuel. Des ensembles de robots modulaires composés de plusieurs milliers de modules peuvent s'organiser pour former des objets tangibles capables de se transformer à l'infini sur demande. D'un point de vue algorithmique, cependant, ce processus d'autoreconfiguration représente un défi considérable à cause des contraintes cinématiques, temporelles, de contrôle, et de communication, auxquelles sont soumis les *** défendons dans cette thèse qu'il existe des moyens d'accélérer la reconfiguration des systèmes de matière programmable, et qu'une nouvelle classe de méthodes de reconfiguration plus rapide et mieux adaptée aux systèmes de représentation tangibles doit voir le jour. Nous soutenons qu'il est possible de parvenir à de telles méthodes en proposant une nouvelle façon de représenter les objets faits de matière programmable, et en utilisant une plateforme d'assistance dédiée à l'*** conséquent, nous proposons un cadre pour réaliser cette approche innovante sur des ensembles de modules quasi-sphériques arrangés en structures cristallines cubiques à faces centrées, et présentons des algo

关键词： Matière programmable Algorithmes distribués Robotique modulaire Autoreconfiguration Systèmes multi-agents Programmable matter distributed algorithms Modular robotics Self-reconfiguration Multi-agent systems 005.1

来源：评论

学校读者我要写书评

暂无评论

distributed algorithms for Networks Formation in a Scalable Internet of Things

Distributed Algorithms for Networks Formation in a Scalable ...

引用

作者： Jedda, Ahmed University of Ottawa

学位级别：master

The Internet of Things (IoT) is a vision that aims at inter-connecting every physical identifiable object (or, a thing) via a global networking infrastructure (e.g., the legacy Internet). Several architectures are proposed to realize this vision; many of which agree that the IoT shall be considered as a global network of networks. These networks are used to manage wireless sensors, Radio Frequency IDentification (RFID) tags, RFID readers and other types of electronic devices and integrate them into the IoT. A major requirement of the IoT architectures is scalability, which is the capability of delivering high performance even if the input size (e.g., number of the IoT objects) is large. This thesis studies and proposes solutions to meet this requirement, and specifically focuses on the scalability issues found in the networks of the IoT. The thesis proposes several network formation algorithms to achieve these objectives, where a network formation algorithm is an algorithm that, if applied to a certain network, optimizes it to perform its tasks in a more efficient manner by virtually deleting some of its nodes and/or *** thesis focuses on three types of networks found in the IoT: 1) RFID readers coverage networks; whose main task is to cover (i.e., identify, monitor, track, sense) IoT objects located in a given area, 2) readers inter-communications networks; whose main task is to guarantee that their nodes are able to inter-communicate with each other and hence use their resources more efficiently (the thesis specifically considers inter-communication networks of readers using Bluetooth for communications), and 3) Object Name Systems (ONS) which are networks of several inter-connected database servers (i.e., distributed database) whose main task is to resolve an object identifier into an Internet address to enable inter-communication via the Internet. These networks are chosen for several reasons. For example, the technologies and concepts found in these n

关键词： Internet of Things distributed algorithms Networks Formation Bluetooth Scatternet Formation RFID Peer-To-Peer Computing Object Name Systems distributed Hash Tables

来源：评论

学校读者我要写书评

暂无评论

Performance Guarantees of distributed algorithms for QoS in Wireless Ad Hoc Networks

引用

IEEE-ACM TRANSACTIONS ON NETWORKING 2020年第1期28卷 182-195页

作者： Ganesan, Ashwin Vellore Inst Technol Sch Comp Sci & Engn Vellore 632014 Tamil Nadu India

Consider a wireless network where each communication link has a minimum bandwidth quality-of-service requirement. Certain pairs of wireless links interfere with each other due to being in the same vicinity, and this interference is modeled by a conflict graph. Given the conflict graph and link bandwidth requirements, the objective is to determine, using only localized information, whether the demands of all the links can be satisfied. At one extreme, each node knows the demands of only its neighbors;at the other extreme, there exists an optimal, centralized scheduler that has global information. The present work interpolates between these two extremes by quantifying the tradeoff between the degree of decentralization and the performance of the distributed algorithm. This open problem is resolved for the primary interference model, and the following general result is obtained: if each node knows the demands of all links in a ball of radius $d$ centered at the node, then there is a distributed algorithm whose performance is away from that of an optimal, centralized algorithm by a factor of at most ${{ (2d+3)}}/{{ (2d+2)}}$ . The tradeoff between performance and complexity of the distributed algorithm is also analyzed. It is shown that for line networks under the protocol interference model, the row constraints are a factor of at most 3 away from optimal. Both bounds are best possible.

关键词： Graph theory wireless ad hoc networks distributed algorithms admission control quality-of-service imperfection ratio row constraints primary interference model protocol interference model line networks

来源：评论

学校读者我要写书评

暂无评论

distributed Calculation of Edge-Disjoint Spanning Trees for Robustifying distributed algorithms Against Man-in-the-Middle Attacks

引用

IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS 2018年第4期5卷 1646-1656页

作者： Oliva, Gabriele Cioaba, Sebastian Hadjicostis, Christoforos N. Univ Campus Biomed Complex Syst & Secur Lab I-00128 Rome Italy Consorzio Nazl Interuniv Trasporti & Logist NITEL Via Spalato 11 I-00128 Rome Italy Univ Delaware Dept Math Sci Newark DE 19716 USA Univ Cyprus Dept Elect & Comp Engn CY-1678 Nicosia Cyprus

In this paper, we provide a distributed methodology to allow a network of agents, tasked to execute a distributed algorithm, to overcome Man-in-the-Middle (MITM) attacks that aim at steering the result of the algorithm toward inconsistent values or dangerous configurations. We want the agents to be able to restore the correct result of the algorithm despite the attacks. To this end, we provide a distributed algorithm to let the set of agents, interconnected by an undirected network topology, construct several edge-disjoint spanning trees by assigning labels to their incident edges. The ultimate objective is to use these spanning trees to run multiple instances of the same distributed algorithm in parallel, in order to detect MITM attacks or other faulty or malicious link behavior (e.g., when the instances yield different results) and to restore the correct result (when the majority of instances is unaffected). The proposed algorithm is lightweight and asynchronous, and is based on iterated depth-first visits on the graph. We complement this paper with a thorough analysis of the performance of the proposed algorithms.

关键词： distributed algorithms edge disjoint spanning trees (EDSTs) Man-in-the-Middle (MITM) attacks tree packing problem

来源：评论

学校读者我要写书评

暂无评论

FIND YOUR PLACE: SIMPLE distributed algorithms FOR COMMUNITY DETECTION

引用

SIAM JOURNAL ON COMPUTING 2020年第4期49卷 821-864页

作者： Becchetti, Luca Clementi, Andrea E. Natale, Emanuele Pasquale, Francesco Trevisan, Luca Sapienza Univ Roma Dipartimento Ingn Informat Automat & Gestionale I-00185 Rome Italy Univ Roma Tor Vergata Dipartimento Ingn Impresa Mario Lucertini I-00133 Rome Italy CNRS I3S UCA INRIA F-06902 Sophia Antipolis France Univ Bocconi Dipartimento Sci Decis I-947201776 Milan Italy

Given an underlying graph, we consider the following dynamics: Initially, each node locally chooses a value in {-1, 1}, uniformly at random and independently of other nodes. Then, in each consecutive round, every node updates its local value to the average of the values held by its neighbors, at the same time applying an elementary, local clustering rule that only depends on the current and the previous values held by the node. We prove that the process resulting from this dynamics produces a clustering that exactly or approximately (depending on the graph) reflects the underlying cut in logarithmic time, under various graph models that exhibit a sparse balanced cut, including the stochastic block model. We also prove that a natural extension of this dynamics performs community detection on a regularized version of the stochastic block model with multiple communities. Rather surprisingly, our results provide rigorous evidence for the ability of an extremely simple and natural dynamics to perform community detection, a computational problem which is nontrivial even in a centralized setting.

关键词： distributed algorithms averaging dynamics community detection spectral analysis stochastic block models

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：