Legged locomotion is widespread in nature and has inspired the design of current robots. The controller these legged robots often realized as one centralized instance. However, nature, control movement happens a hierarchical decentralized fashion. Introducing biological principles into robotic systems motivated this work. We tackle question whether beneficial for present novel decentral, archit...

Because of its highly combinatorial aspect, its dynamic nature and its practical interest for manufacturing systems, the scheduling problem has been widely studied in the literature by various methods: heuristics, constraint propagation techniques, Constraint Satisfaction Problem formalism, simulated annealing, Taboo search, genetic algorithms, neural networks, etc. This paper deals with the Fl...

State machine replication reduces distributed to centralized computing. Any sequential service, modeled by a state machine, can be replicated over any number of processes and made highly available to all of them. At the heart of this fundamental reduction lies the so called universal consensus abstraction, key to providing the illusion of single shared service, despite replication. Yet, as univ...

In multiagent adversarial domains, team agents should adapt to the environment and opponent. We introduce a model representation as part of a planning process for a simulated soccer domain. The planning is centralized, but the plans are executed in a multi-agent environment, with teammate and opponent agents. Further, we present a recognition algorithm where the model which most closely matches...

We compare the power of two (fairly di erent) recently investigated language identifying devices: patterns and parallel communicating (PC) grammar systems. The simulation of multi-patterns by context-free PC grammar systems is rather obvious, but, unexpectedly, this can be realized also by (non-centralized) PC grammar systems with right-linear components. Moreover, in nite multi-patterns formin...

Peer-to-Peer systems have become a focus of distributed computing these years. Document discovery is a key problem in this field. In this paper, abstract indices are proposed for content-based information retrieval in Peer-to-Peer systems, especially for multimedia documents. Abstract information is extracted from the shared documents of each peer, then the similar documents on other peers can ...

In this work the recently developed fuzzy logic-based adaptive Kalman filter (FL-AKF) is used to build adaptive centralized, decentralized, and federated Kalman filters for Adaptive MultiSensor Data Fusion (AMSDF). The adaptation carried out is in the sense of adaptively adjusting the measurement noise covariance matrix of each local FL-AKF to fit the actual statistics of the noise profiles pre...

Sufficient uptime is the main concern in a distributed system where there is no centralized organization and control. Therefore searching in P2P file sharing systems is still a big problem due to the high churn rate of nodes. To find a particular piece of data within the network P2P systems explicitly or implicitly provide a lookup mechanism, which largely depends on the availability of nodes. ...

Localization, estimating the positions and orientations of a set of camera nodes, is a critical first step in camera network applications such as geometric estimation and scene reconstruction. We propose a distributed algorithm for camera network localization between multiple omni-directional cameras with sparse overlapping view structure. This procedure involves a distributed variation of the ...