A certifying algorithm verifies the correctness of its output at runtime by producing a witness in addition to an input-output pair. If a witness predicate holds for the triple, the input-output pair is correct. A che...
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ISBN:
(纸本)9783319675312;9783319675305
A certifying algorithm verifies the correctness of its output at runtime by producing a witness in addition to an input-output pair. If a witness predicate holds for the triple, the input-output pair is correct. A checker algorithm decides the witness predicate. While certifying sequential algorithms are well-established, we consider distributed algorithms. In this paper, we investigate certifying distributed algorithms that verify their distributed output. While the witness predicate states a property in the network, for distributed checking, additional predicates are decided for each component. We illustrate the applicability by examples.
A modular robots is composed of many independent connected modules which are able to achieve common goals through communications. A modular self-reconfigurable robot can move and reorganize its modules to modify its s...
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ISBN:
(纸本)9781467387767
A modular robots is composed of many independent connected modules which are able to achieve common goals through communications. A modular self-reconfigurable robot can move and reorganize its modules to modify its shape. In this paper, we consider a modular self-reconfigurable robot made from cubic modules (blocks) that are able to slide along their faces. Sliding motions imply complex cooperations, for example, crossing an angle needs at least three synchronized blocks. Based on this kind of hardware, we propose a distributed rule-based algorithm which plans and moves the blocks to reach a final configuration. We propose the use of motion rules that drastically simplify the complexity of the sliding movements and we define a special kind of metamodule to fasten the reconfiguration. We evaluate our algorithm in a simulator in order to study its behavior in the case of large modular robots composed of more than 10,000 modules. We test its robustness with more than 120 different kinds reconfigurations scenarii, representing more than 338 millions of movements for the blocks without any problem.
The paper dwells on the development of a distributed algorithm of the control software for a robotic laser welding complex. The authors compute an algorithm to process the integrated control software containing instru...
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ISBN:
(纸本)9781728180755
The paper dwells on the development of a distributed algorithm of the control software for a robotic laser welding complex. The authors compute an algorithm to process the integrated control software containing instructions for controlling all devices in a robotic complex. The article brings out the structure and the hardware included in the software, reports on individual requirements for programming and controlling of each device. The authors observe the structure of the software that controls the operation of the robotic complex and outline the capacities used for coordination of all devices. The authors design the structure of the control software for a definite item welding, elements of analysis algorithm, and the control software processing produced with various devices within the complex. The authors provide the interchangement of the condition and synchronisation signals of algorithm element performance.
In a dynamic environment, the accomplishment of a mission composed of multi-robot tasks is quite a challenging problem. To execute collaborative tasks successfully, robots may need to be present at the location of the...
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ISBN:
(纸本)9783030588144;9783030588137
In a dynamic environment, the accomplishment of a mission composed of multi-robot tasks is quite a challenging problem. To execute collaborative tasks successfully, robots may need to be present at the location of the task. However, the required robots may not be present at the location of the task. A distributed algorithm has been proposed recently for such task execution. A model checker can analyze the behavior of the algorithm. In this paper, we formally model the algorithm using the PRISM model checker. We identify some interesting safety and liveness properties of the algorithm and perform extensive simulations of the algorithm. The results validate that the behavior of the algorithm is as expected.
Balanced graph partitioning is a well known NP-complete problem with a wide range of applications. These applications include many large-scale distributed problems including the optimal storage of large sets of graph-...
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ISBN:
(纸本)9780769551296
Balanced graph partitioning is a well known NP-complete problem with a wide range of applications. These applications include many large-scale distributed problems including the optimal storage of large sets of graph-structured data over several hosts-a key problem in today's Cloud infrastructure. However, in very large-scale distributed scenarios, state-of-the-art algorithms are not directly applicable, because they typically involve frequent global operations over the entire graph. In this paper, we propose a fully distributed algorithm, called JA-BE-JA, that uses local search and simulated annealing techniques for graph partitioning. The algorithm is massively parallel: there is no central coordination, each node is processed independently, and only the direct neighbors of the node, and a small subset of random nodes in the graph need to be known locally. Strict synchronization is not required. These features allow JA-BE-JA to be easily adapted to any distributed graph-processing system from data centers to fully distributed networks. We perform a thorough experimental analysis, which shows that the minimal edge-cut value achieved by JA-BE-JA is comparable to state-of-the-art centralized algorithms such as METIS. In particular, on large social networks JA-BE-JA outperforms METIS, which makes JA-BE-JA-a bottom-up, self-organizing algorithm-a highly competitive practical solution for graph partitioning.
In this paper, we present a distributed algorithm combining power control and scheduling for densely deployed femtocells networks. The strong interference in the downlink from the femtocells should be well mitigated t...
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ISBN:
(纸本)9781467304375;9781467304368
In this paper, we present a distributed algorithm combining power control and scheduling for densely deployed femtocells networks. The strong interference in the downlink from the femtocells should be well mitigated to satisfy the quality of service (QoS) requirement of femtocell users. The considered optimization problem is formulated as minimizing the total power consumption, while the QoS requirements of femtocell users are guaranteed. An optimal scheme requires global information of channel qualities, which is very difficult to put into practice. This paper proposed a suboptimal algorithm joining power control with scheduling policy, which is operated in distributed manner. The distributed algorithm provides a suboptimal solution using local information including the channel quality of users and the iterative power values. Simulation results prove that our proposed algorithm can effectively allocate power and frequency resource to the femtocell users, while achieve superior system performance in terms of outage ratio and scheduling fairness.
This paper proposes a distributed algorithm to construct a 2-connected 2-dominating set. The main ingredient of this algorithm is that the nodes in the loop are 2-vertex connected. It starts from any node, and forms a...
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ISBN:
(纸本)9783037859537
This paper proposes a distributed algorithm to construct a 2-connected 2-dominating set. The main ingredient of this algorithm is that the nodes in the loop are 2-vertex connected. It starts from any node, and forms a localized loop made by dominating nodes. The nodes in the loop are 2-vertex connected. Basing on this loop, the algorithm continue to construct other loops formed by dominating nodes until the nodes out loops are 2-dominated.
This paper proposes an innovative distributed algorithm for cluster organization of Wireless Sensor Networks (WSN), named DSCO. Simple logic, connectionless information exchange and asynchronism are prominent features...
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ISBN:
(纸本)9780769535616
This paper proposes an innovative distributed algorithm for cluster organization of Wireless Sensor Networks (WSN), named DSCO. Simple logic, connectionless information exchange and asynchronism are prominent features of the algorithm. DSCO involves three correlative processes: cluster organization, cluster reorganization and cluster self-healing. The process of cluster organization is the basic process of DSCO, which adopts random backoff strategy;the cluster reorganization and cluster self-healing processes are recursion of the former, which effectively simplifies the design of the algorithm. Furthermore, DSCO furthest isolates nodes and clusters, and reduces the reliance of global information to minimum, which is useful to reduce the pressure of data storage and processing in nodes, lessen the network traffic and enhance the anti-destroy ability of WSN. The algorithm simulation illustrates that DSCO can get fast clustering speed and uniform distribution of cluster nodes, proves its good performance on clustering rate and topology control, and shows good adaptability to large-scale WSN.
A b-coloring of a graph G is a proper coloring of the nodes of G such that each color class contains a node that has a neighbor in all other color classes. A fully dynamic algorithm is an algorithm used to support mod...
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ISBN:
(纸本)9780769534718
A b-coloring of a graph G is a proper coloring of the nodes of G such that each color class contains a node that has a neighbor in all other color classes. A fully dynamic algorithm is an algorithm used to support modifications (insertion or deletion) of nodes and edges in a network. Thus, in this paper we propose a fully dynamic distributed algorithm to maintain a b-coloring of a graph when its topology evolves. This method determines a b-coloring in time O(Delta(2)) and needs O(n Delta) changes of colors to maintain a b-coloring of a graph, where n is the number of nodes and A is the maximum degree in the graph.
In [8], a high availability framework based on Harary graph as network topology has been proposed for stateful failover. Framework proposed therein exhibits an interesting property that an uniform load can be given to...
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ISBN:
(纸本)9783540725039
In [8], a high availability framework based on Harary graph as network topology has been proposed for stateful failover. Framework proposed therein exhibits an interesting property that an uniform load can be given to each non-faulty node while maintaining fault tolerance. A challenging problem in this context, which has not been addressed in 181 is to be able to come tip with a distributed algorithm of automated fault recovery which can exploit the properties exhibited by the framework. In this work, we propose a distributed algorithm with low message and round complexity for automated fault recovery in case of stateful failover. We then prove the correctness of the algorithm using techniques from formal verification. The safety, liveness and the timeliness properties of the algorithm have been verified by the model checker SPIN.
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