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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

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Stab-FD: A cooperative and adaptive failure detector for wide area networks

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JOURNAL OF PARALLEL AND distributed COMPUTING 2024年 186卷

作者： Sens, Pierre Arantes, Luciana Rossetto, Anubis Graciela De Moraes Marin, Olivier Sorbonne Univ CNRS LIP6 4 Pl Jussieu F-75005 Paris France Fed Inst Sul rio grandense IFSUL Passo Fundo Brazil NYU Shanghai Comp Sci Shanghai Peoples R China

Failure detectors (FDs) are a fundamental abstraction that plays a central role in the design of distributed systems. FDs are distributed oracles that provide processes with unreliable information about process failures, often in the form of a list of trusted or suspected process identities. In this article, we propose a timer-based FD which assesses the quality of its input links, and exchanges its local estimations with other nodes. Nodes use this information to adjust their timers dynamically. Capturing the variations in the quality of each link reduces the number of false suspicions without degrading failure detection time. We present experiments on a dataset of real traces collected on PlanetLab, and compare our approach to well-known state-of-the-art algorithms. Our results show that our new algorithms yield a good trade-off in terms of failure detection speed and accuracy in real scenarios.

关键词： Failure detectors Quality of service Fault tolerance distributed algorithms Reliability

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Boundary sketching with asymptotically optimal distance and rotation

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THEORETICAL COMPUTER SCIENCE 2024年 1010卷

作者： Dani, Varsha Islam, Abir Saia, Jared Rochester Inst Technol Dept Comp Sci Rochester NY 14623 USA Univ New Mexico Dept Comp Sci Albuquerque NM USA

We address the problem of designing a distributed algorithm for two robots that sketches the boundary of an unknown shape. Critically, we assume a certain amount of delay in how quickly our robots can react to external feedback. In particular, when a robot moves, it commits to move along path of length at least A, or turn an amount of radians at least A for some positive A <= 1/2 6 , that is normalized based on a unit diameter shape. Then, our algorithm outputs a polygon that is root an e-sketch, for e = 8 A, in the sense that every point on the shape boundary is within distance e of the output polygon. Moreover, our costs are asymptotically optimal in two key criteria for the robots: total distance traveled and total amount of rotation. Additionally, we implement our algorithm, and illustrate its output on some specific shapes.

关键词： Boundary sketch Robotics Drones distributed algorithms Euclidean plane

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Optimizing distributed Load Balancing for Workloads with Time-Varying Imbalance

Optimizing Distributed Load Balancing for Workloads with Tim...

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IEEE International Conference on Cluster Computing (Cluster)

作者： Lifflander, Jonathan Slattengren, Nicole Lemaster Pebay, Philippe P. Miller, Phil Rizzi, Francesco Bettencourt, Matthew T. Sandia Natl Labs Livermore CA 94550 USA NexGen Analyt Sheridan WY USA Intense Comp New York NY USA

ISBN: (纸本)9781728196664

This paper explores dynamic load balancing algorithms used by asynchronous many-task (AMT), or 'task-based', programming models to optimize task placement for scientific applications with dynamic workload imbalances. AMT programming models use overdecomposition of the computational domain. Overdecompostion provides a natural mechanism for domain developers to expose concurrency and break their computational domain into pieces that can be remapped to different hardware. This paper explores fully distributed load balancing strategies that have shown great promise for exascale-level computing but are challenging to theoretically reason about and implement effectively. We present a novel theoretical analysis of a gossip-based load balancing protocol and use it to build an efficient implementation with fast convergence rates and high load balancing quality. We demonstrate our algorithm in a next-generation plasma physics application (EMPIRE) that induces time-varying workload imbalance due to spatial non-uniformity in particle density across the domain. Our highly scalable, novel load balancing algorithm, achieves over a 3x speedup (particle work) compared to a bulk-synchronous MPI implementation without load balancing.

关键词： dynamic load balancing overdecomposition exascale computing asynchronous many-task (AMT) task-based programming distributed algorithms

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

Distributed Algorithms for Joint Routing and Frame Aggregati...

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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

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A Speedup Theorem for Asynchronous Computation with Applications to Consensus and Approximate Agreement 22

A Speedup Theorem for Asynchronous Computation with Applicat...

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ACM Symposium on Principles of distributed Computing (PODC)

作者： Fraigniaud, Pierre Paz, Ami Rajsbaum, Sergio Univ Paris Cite IRIF Paris France CNRS Paris France Univ Nacl Autonoma Mexico Inst Matemat Mexico City Mexico

ISBN: (纸本)9781450392624

We study two fundamental problems of distributed computing, consensus and approximate agreement, through a novel approach for proving lower bounds and impossibility results, that we call the asynchronous speedup theorem. For a given n-process task Pi and a given computational model M, we define a new task, called the closure of Pi with respect to M. The asynchronous speedup theorem states that if a task Pi is solvable in t >= 1 rounds in M, then its closure w.r.t. M is solvable in t - 1 rounds in... We prove this theorem for iterated models, as long as the model allows solo executions. We illustrate the power of our asynchronous speedup theorem by providing a new proof of the wait-free impossibility of consensus using read/write registers, and a new proof of the wait-free impossibility of solving consensus using registers and test&set objects for n > 2. The proof is merely by showing that, in each case, the closure of consensus (w.r.t. the corresponding model) is consensus itself. Our main application is the study of the power of additional objects, namely test&set and binary consensus, for wait-free solving approximate agreement faster. By analyzing the closure of approximate agreement w.r.t. each of the two models, we show that while these objects are more powerful than read/write registers from the computability perspective, they are not more powerful as far as helping solving approximate agreement faster is concerned.

关键词： Lower Bounds distributed algorithms Consensus Approximate Agreement Combinatorial Topology

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The Complexity of the distributed Constraint Satisfaction Problem 38

The Complexity of the Distributed Constraint Satisfaction Pr...

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38th International Symposium on Theoretical Aspects of Computer Science (STACS)

作者： Butti, Silvia Dalmau, Victor Univ Pompeu Fabra Dept Informat & Commun Technol Barcelona Spain

ISBN: (纸本)9783959771801

We study the complexity of the distributed Constraint Satisfaction Problem (DCSP) on a synchronous, anonymous network from a theoretical standpoint. In this setting, variables and constraints are controlled by agents which communicate with each other by sending messages through fixed communication channels. Our results endorse the well-known fact from classical CSPs that the complexity of fixed-template computational problems depends on the template's invariance under certain operations. Specifically, we show that DCSP(Gamma) is polynomial-time tractable if and only if Gamma is invariant under symmetric polymorphisms of all arities. Otherwise, there are no algorithms that solve DCSP(Gamma) in finite time. We also show that the same condition holds for the search variant of DCSP. Collaterally, our results unveil a feature of the processes' neighbourhood in a distributed network, its iterated degree, which plays a major role in the analysis. We explore this notion establishing a tight connection with the basic linear programming relaxation of a CSP.

关键词： Constraint Satisfaction Problems distributed algorithms Polymorphisms

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Generalized Nash equilibrium seeking algorithm design for distributed constrained noncooperative games with second-order players

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AUTOMATICA 2022年 141卷

作者： Deng, Zhenhua Liu, Yangyang Chen, Tao Cent South Univ Sch Automat Changsha 410075 Peoples R China

In this paper, we study the noncooperative games of multi-agent systems. Different from the well-known noncooperative games, our problem involves not only the coupling inequality constraints and the local inequality constraints of decisions, but also the second-order dynamics of players. Due to the second-order dynamics and the inequality constraints, existing generalized Nash equilibrium seeking algorithms for noncooperative games cannot solve our problem. Besides, the second-order dynamics together with the inequality constraints give rise to the difficulties in distributed algorithm design and analysis. In order to seek the variational generalized Nash equilibrium of the games, we design a distributed algorithm based on gradient descent, state feedback and projection operations. Moreover, we analyze the asymptotic convergence of the algorithm via variational analysis and Lyapunov stability theory. Finally, two examples verify the effectiveness of the algorithm. (c) 2022 Elsevier Ltd. All rights reserved.

关键词： Second-order multi-agent systems distributed algorithms Noncooperative games Generalized Nash equilibrium Inequality constraints

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distributed Augmented Lagrangian Method for Link-Based Resource Sharing Problems of Multiagent Systems

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IEEE TRANSACTIONS ON AUTOMATIC CONTROL 2022年第6期67卷 3067-3074页

作者： Ananduta, Wicak Nedic, Angelia Ocampo-Martinez, Carlos Delft Univ Technol Delft Ctr Syst & Control NL-2624CD Delft Netherlands Arizona State Univ Sch Elect Comp & Energy Engn Tempe AZ 85287 USA UPC CSIC Inst Robot & Informat Ind Barcelona 08028 Spain

A multiagent optimization problem motivated by the management of energy systems is discussed. The associated cost function is separable and convex although not necessarily strongly convex and there exist edge-based coupling equality constraints. In this regard, we propose a distributed algorithm based on solving the dual of the augmented problem. Furthermore, we consider that the communication network might be time-varying and the algorithm might be carried out asynchronously. The time-varying nature and the asynchronicity are modeled as random processes. Then, we show the convergence and the convergence rate of the proposed algorithm under the aforementioned conditions.

关键词： Optimization Couplings Communication networks Cost function Random processes distributed algorithms Convergence Asynchronous method multiagent optimization stochastic time-varying network

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On Optimal Grid Partitioning for distributed Optimization of Reactive Power Dispatch

On Optimal Grid Partitioning for Distributed Optimization of...

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IEEE-Power-and-Energy-Society Innovative Smart Grid Technologies Conference (ISGT)

作者： Murray, Alexander Kyesswa, Michael Cakmak, Huseyin Hagenmeyer, Veit Karlsruhe Inst Technol Inst Automat & Appl Informat Karlsruhe Germany

ISBN: (纸本)9781728188973

distributed optimization has been shown to be one promising method for tackling reactive power dispatch, however the performance of distributed algorithms is known to be dependent on how the given problem is partitioned. The question of how to optimally partition a power grid for use in distributed optimization remains open in the literature. In the present paper, we test partitions generated by the graph partitioned KaFFPa, METIS, and spectral clustering using five edge-weighting metrics. The standard IEEE 14, 30, and 57 bus models are used as benchmark case studies and the Augmented Lagrangian Alternating Direction Inexact Newton algorithm is used as the distributed optimization algorithm. It is shown that performance varies drastically depending on which partitioner and weighting is used. Overall, KaFFPa with weightings given by the Y-bus matrix yields the best results.

关键词： reactive power control clustering methods distributed algorithms

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