New reactive behaviors that implement formations in multi-robot teams are presented and evaluated. The formation behaviors are integrated with other navigational behaviors to enable a robotic team to reach navigational goals, avoid hazards and simultaneously remain in formation. The behaviors

This paper argues that a broad class of search models cannot generate the observed business-cycle-frequency fluctuations in unemployment and job vacancies in response to shocks of a plausible magnitude. In the U.S., the vacancy-unemployment ratio is 20 times as volatile as average labor productivity, while under weak assumptions, search models predict that the vacancy-unemployment ratio and labor productivity have nearly the same variance. I establish this claim both using analytical comparative statics in a very general deterministic search model and using simulations of a stochastic version of the model. I show that a shock that changes average labor productivity primarily alters the present value of wages, generating only a small movement along a downward sloping Beveridge curve (unemployment-vacancy locus). A shock to the job destruction rate generates a counterfactually positive correlation between unemployment and vacancies. In both cases, the shock is only slightly amplified and the model exhibits virtually no propagation. I reconcile these findings with an existing literature and argue that the source of the model’s failure is lack of wage rigidity, a consequence of the assumption that wages are determined by Nash bargaining. ∗ This is a major revision of ‘Equilibrium Unemployment Fluctuations’. I thank Daron Acemoglu, Olivier

of algorithms based on clustering capable of an-alyzing this behavior. We then demonstrate an application of this technology to automatically determine where to simulate for a program to help guide computer architecture research. 1.

We describe a new scalable application-layer multicast protocol, specifically designed for low-bandwidth, data streaming applications with large receiver sets. Our scheme is based upon a hierarchical clustering of the application-layer multicast peers and can support a number of different data

Computing devices and applications are now used beyond the desktop, in diverse environments, and this trend toward ubiquitous computing is accelerating. One challenge that remains in this emerging research field is the ability to enhance the behavior of any application by informing

The large-scale behavior of routing in the Internet has gone virtually without any formal study, the exception being Chinoy's analysis of the dynamics of Internet routing information [Ch93]. We report on an analysis of 40,000 end-to-end route measurements conducted using repeated “traceroutes

In this paper we show that application-aware adaptation, a collaborative partnership between the operating system and applications, offers the most general and effective approach to mobile information access. We describe the design of Odyssey, a prototype implementing this approach, and show how

In this paper, we analyze a performance model for the TCP Congestion Avoidance algorithm. The model predicts the bandwidth of a sustained TCP connection subjected to light to moderate packet losses, such as loss caused by network congestion. It assumes that TCP avoids retransmission timeouts and always has sufficient receiver window and sender data. The model predicts the Congestion Avoidance performance of nearly all TCP implementations under restricted conditions and of TCP with SelectiveAcknowledgements over a much wider range of Internet conditions. We verify

techniques which can be used to verify the correctness of workflow procedures. This paper introduces workflow management as an application domain for Petri nets, presents state-of-the-art results with respect to the verification of workflows, and highlights some Petri-net-based workflow tools.

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