We present egglog, a fixpoint reasoning system that unifies Datalog and equality saturation (EqSat). Like Datalog, egglog supports efficient incremental execution, cooperating analyses, lattice-based reasoning. EqSat, term rewriting, congruence closure, extraction of optimized terms. identify two recent applications -- unification-based pointer analysis in an EqSat-based floating-point rewriter...

This paper proposes the distributed impedance approach as a new formulation of multiple robot systems control. In this approach, each cooperating manipu-lator is provided with its own independant impedance controller. In addition, along selected degrees of freedom , force control is achieved through an external loop, in order to improve control of the object's internal loading. Extensive stabil...

Managing patients in a shared-care context is a knowledge intensive activity. To support cooperative work in medical care, computer technology should either augment the capabilities of individual specialists and enhance their ability of interacting with each other and with computational resources. Thus, a major shift is needed from centralized first generation Hospital Information Systems to di...

Most control systems of exible production cells have a hierarchical structure. Hierarchical control systems become very complicated and diicult to maintain and modify when the underlying production cells grow in size and complexity. Moreover , they are characterized by a relatively high sensitivity to failures. As opposed to hierarchical systems, heterarchical control systems are exible, modula...

Peer-to-peer (P2P) systems are used by millions of users every day. In many scenarios, it is desirable for the users from di erent P2P systems to communicate and exchange content or services with each other. This requires co-operation between the P2P systems, which is often di cult or impossible, due to the two following reasons. First is the lack of an inter-overlay routing infrastructure thro...

Intelligent agents and multiagent systems (MAS) provide a scalable approach to distributed artificial intelligence [3]. Analogous to intelligent biological entities, agent-based computational systems may become quite complex. Some may consist of multiple cooperating groups, each providing a specialized subset of the total required functionality [4, 6]. My work focuses on engineering multigroup ...

In this article we fommlate the dynamics of cooperating robot systems using standard ideas and notation from the theory of Lie groups. Utilizing the geometric framework introduced in Park et al. (1995), we develop the equations of motion for a system of N cooperating robots manipulating a common workpiece. In the resulting dynamic equations the Jacobian, mass matrix, Coriolis, and gravity terms...

Hybrid Event-B, initially introduced for single machines to add continuously varying behaviour to discrete change of state in Event-B, is extended to cater for multiple cooperating machines. Multiple machine working is mediated by INTERFACE and PROJECT constructs. The former encapsulates a set of variables, their invariants and initialisations, in a form that several machines can exploit simult...

We analyze the error performance of distributed space-time codes in a wireless system with multiple cooperating transmitters and a single receiver. Due to the distributed nature of the system, the transmitted signals are subject to different average path losses. As our analysis shows, this effect leads to reduced diversity gains. We explain this result on the basis of an interesting duality bet...