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368
Giotto: A timetriggered language for embedded programming
 PROCEEDINGS OF THE IEEE
, 2001
"... Giotto provides an abstract programmer's model for the implementation of embedded control systems with hard realtime constraints. A typical control application consists of periodic software tasks together with a mode switching logic for enabling and disabling tasks. Giotto speci es timetrigger ..."
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Cited by 286 (37 self)
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Giotto provides an abstract programmer's model for the implementation of embedded control systems with hard realtime constraints. A typical control application consists of periodic software tasks together with a mode switching logic for enabling and disabling tasks. Giotto speci es timetriggered sensor readings, task invocations, and mode switches independent of any implementation platform. Giotto can be annotated with platform constraints such as tasktohost mappings, and task and communication schedules. The annotations are directives for the Giotto compiler, but they do not alter the functionality andtiming of a Giotto program. By separating the platformindependent from the platformdependent concerns, Giotto enables a great deal of exibility inchoosing control platforms as well as a great deal of automation in the validation and synthesis of control software. The timetriggered nature of Giotto achieves timing predictability, which makes Giotto particularly suitable for safetycritical applications.
MultiRobot Task Allocation: Analyzing the Complexity and Optimality of Key Architectures
 ICRA 2003
, 2003
"... Important theoretical aspects of multirobot coordination mechanisms have, to date, been largely ignored. To address part of this negligence, we focus on the problem of multirobot task allocation. We give a formal, domainindependent, statement of the problem and show it to be an instance of another ..."
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Cited by 93 (9 self)
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Important theoretical aspects of multirobot coordination mechanisms have, to date, been largely ignored. To address part of this negligence, we focus on the problem of multirobot task allocation. We give a formal, domainindependent, statement of the problem and show it to be an instance of another, wellstudied, optimization problem. In this light, we analyze several recently proposed approaches to multirobot task allocation, describing their fundamental characteristics in such a way that they can be objectively studied, compared, and evaluated.
Modeling and Analysis of Timed Petri Nets Using Heaps of Pieces
, 1997
"... We show that safe timed Petri nets can be represented by special automata over the (max,+) semiring, which compute the height of heaps of pieces. This extends to the timed case the classical representation a la Mazurkievicz of the behavior of safe Petri nets by trace monoids and trace languages. Fo ..."
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Cited by 56 (18 self)
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We show that safe timed Petri nets can be represented by special automata over the (max,+) semiring, which compute the height of heaps of pieces. This extends to the timed case the classical representation a la Mazurkievicz of the behavior of safe Petri nets by trace monoids and trace languages. For a subclass including all safe Free Choice Petri nets, we obtain reduced heap realizations using structural properties of the net (covering by safe state machine components). We illustrate the heapbased modeling by the typical case of safe jobshops. For a periodic schedule, we obtain a heapbased throughput formula, which is simpler to compute than its traditional timed event graph version, particularly if one is interested in the successive evaluation of a large number of possible schedules. Keywords Timed Petri nets, automata with multiplicities, heaps of pieces, (max,+) semiring, scheduling. I. Introduction The purpose of this paper 1 is to prove the following result: Timed safe Pe...
Scheduling multiprocessor tasks  An overview
 EUROPEAN JOURNAL OF OPERATIONAL RESEARCH
, 1996
"... Multiprocessor tasks require more than one processor at the same moment of time. This relatively new concept in scheduling theory emerged with the advent of parallel computing systems. In this work we present the state of the art for multiprocessor task scheduling. We show the rationale behind the c ..."
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Cited by 49 (3 self)
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Multiprocessor tasks require more than one processor at the same moment of time. This relatively new concept in scheduling theory emerged with the advent of parallel computing systems. In this work we present the state of the art for multiprocessor task scheduling. We show the rationale behind the concept of multiprocessor tasks. The standard threefield notation is extended to accommodate multiprocessor tasks. The main part of the work is presentation of the results in multiprocessor tasks scheduling both for parallel and for dedicated processors.
Polynomial Time Algorithms for Minimizing the Weighted Number of Late Jobs on a Single Machine with Equal Processing Times
, 1998
"... We study the problem of minimizing the weighted number of late jobs to be scheduled on a single machine when processing times are equal. In this paper, we show that this problem, as well as its preemptive variant, are both strongly polynomial. When preemption is not allowed 1  pj = p, rj  Σ wj Uj, ..."
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Cited by 45 (3 self)
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We study the problem of minimizing the weighted number of late jobs to be scheduled on a single machine when processing times are equal. In this paper, we show that this problem, as well as its preemptive variant, are both strongly polynomial. When preemption is not allowed 1  pj = p, rj  Σ wj Uj, the problem can be solved in O(n 7). In the preemptive case, 1  pj = p, pmtn, rj  Σ wj Uj, the problem can be solved in O(n 10). Both algorithms are based upon dynamic programming.
Adaptive Communication Algorithms for Distributed Heterogeneous Systems
 PROCEEDINGS OF THE 7TH IEEE INTNL. SYMPOSIUM ON HIGH PERFORMANCE DISTRIBUTED COMPUTING (HPDC 1998)
, 1998
"... Heterogeneous networkbased systems are emerging as attractive computing platforms for HPC applications. This paper discusses fundamental research issues that must be addressed to enable networkaware communication at the application level. We present a uniform framework for developing adaptive comm ..."
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Cited by 34 (2 self)
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Heterogeneous networkbased systems are emerging as attractive computing platforms for HPC applications. This paper discusses fundamental research issues that must be addressed to enable networkaware communication at the application level. We present a uniform framework for developing adaptive communication schedules for various collective communication patterns. Schedules are developed at runtime, based on network performance information obtained from a directory service. We illustrate our framework by developing communication schedules for total exchange. Our first algorithm develops a schedule by computing a series of matchings in a bipartite graph. We also present a O(P³) heuristic algorithm, whose completion time is within twice the optimal. This algorithm is based on the open shop scheduling problem. Simulation results show performance improvements of a factor of 5 over well known homogeneous scheduling techniques.
Minimizing Flow Time Nonclairvoyantly
 In Proceedings of the 38th Symposium on Foundations of Computer Science
, 1997
"... We consider the problem of scheduling a collection of dynamically arriving jobs with unknown execution times so as to minimize the average response/flow time. This the classic CPU scheduling problem faced by timesharing operating systems. In the standard 3field scheduling notation this is the noncl ..."
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Cited by 34 (9 self)
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We consider the problem of scheduling a collection of dynamically arriving jobs with unknown execution times so as to minimize the average response/flow time. This the classic CPU scheduling problem faced by timesharing operating systems. In the standard 3field scheduling notation this is the nonclairvoyant version of 1 j pmtn; r j j P F j . Its easy to see that every algorithm that doesn't unnecessarily idle the processor is at worst ncompetitive, where n is the number of jobs. Yet there is no known nonclairvoyant algorithm, deterministic or randomized, with a competitive ratio provably o(n). In this paper with give a randomized nonclairvoyant algorithm, RMLF, that has competitive ratio \Theta(log n log log n) against an adaptive adversary. RMLF is a slight variation of the multilevel feedback (MLF) algorithm used by the Unix operating system, further justifying the adoption of this algorithm. Motwani, Phillips, and Torng [12] showed that every randomized nonclairvoyant algorithm...
Current trends in deterministic scheduling
 ANNALS OF OPERATIONS RESEARCH
, 1997
"... Scheduling is concerned with allocating limited resources to tasks to optimize certain objective functions. Due to the popularity of the Total Quality Management concept, ontime delivery of jobs has become one of the crucial factors for customer satisfaction. Scheduling plays an important role in ac ..."
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Cited by 34 (1 self)
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Scheduling is concerned with allocating limited resources to tasks to optimize certain objective functions. Due to the popularity of the Total Quality Management concept, ontime delivery of jobs has become one of the crucial factors for customer satisfaction. Scheduling plays an important role in achieving this goal. Recent developments in scheduling theory have focused on extending the models to include more practical constraints. Furthermore, due to the complexity studies conducted during the last two decades, it is now widely understood that most practical problems are NPhard. This is one of the reasons why local search methods have been studied so extensively during the last decade. In this paper, we review briefly some of the recent extensions of scheduling theory, the recent developments in local search techniques and the new developments of scheduling in practice. Particularly, we survey two recent extensions of theory: scheduling with a 1jobonrmachine pattern and machine scheduling with availability constraints. We also review several local search techniques, including simulated annealing, tabu search, genetic algorithms and constraint guided heuristic search. Finally, we study the robotic cell scheduling problem, the automated guided vehicles scheduling problem, and the hoist scheduling problem.
An efficient approximation for the generalized assignment problem
 Information Processing Letters
, 2006
"... We present a simple family of algorithms for solving the Generalized Assignment Problem (GAP). Our technique is based on a novel combinatorial translation of any algorithm for the knapsack problem into an approximation algorithm for GAP. If the approximation ratio of the knapsack algorithm is α and ..."
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Cited by 33 (6 self)
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We present a simple family of algorithms for solving the Generalized Assignment Problem (GAP). Our technique is based on a novel combinatorial translation of any algorithm for the knapsack problem into an approximation algorithm for GAP. If the approximation ratio of the knapsack algorithm is α and its running time is O(f(N)), our algorithm guarantees a (1 + α) approximation ratio, and it runs in O(M · f(N) + M · N), where N is the number of items and M is the number of bins. Not only does our technique comprise a general interesting framework for the GAP problem; it also matches the best combinatorial approximation for this problem, with a much simpler algorithm and a better running time.