On the Convergence of Multicast Games in Directed Networks

We investigate the convergence of the price of anarchy after a limited number of moves in the classical multicast communication game when the underlying communication network is directed. Namely, a subset of nodes of the network are interested in receiving the transmission from a given source node and can share the cost of the used links according to fixed cost sharing methods. At each step, a single receiver is allowed to modify its communication strategy, that is to select a communication path from the source, and assuming a selfish or rational behavior, it will make a best response move, that is it will select a solution yielding the minimum possible payment or shared cost. We determine lower and upper bounds on the price of anarchy, that is the highest possible ratio among the overall cost of the links used by the receivers and the minimum possible cost realizing the required communications, after a limited number of moves under the fundamental Shapley cost sharing method. In particular, assuming that the initial set of connecting paths can be arbitrary, we show an $O(r\sqrt{r})We investigate the convergence of the price of anarchy after a limited number of moves in the classical multicast communication game when the underlying communication network is directed. Namely, a subset of nodes of the network are interested in receiving the transmission from a given source node and can share the cost of the used links according to fixed cost sharing methods. At each step, a single receiver is allowed to modify its communication strategy, that is to select a communication path from the source, and assuming a selfish or rational behavior, it will make a best response move, that is it will select a solution yielding the minimum possible payment or shared cost. We determine lower and upper bounds on the price of anarchy, that is the highest possible ratio among the overall cost of the links used by the receivers and the minimum possible cost realizing the required communications, after a limited number of moves under the fundamental Shapley cost sharing method. In particular, assuming that the initial set of connecting paths can be arbitrary, we show an O(r?r)O(r\sqrt{r}) upper bound on the price of anarchy after 2 rounds, during each of which all the receivers move exactly once, and a matching lower bound, that we also extend to W(r^k?{r})\Omega(r\sqrt[k]{r}) for any number k≥2 rounds, where r is the number of receivers. Similarly, exactly matching upper and lower bounds equal to r are determined for any number of rounds when starting from the empty state in which no path has been selected. Analogous results are obtained also with respect to other three natural cost sharing methods considered in the literature, that is the egalitarian, path-proportional and egalitarian-path proportional ones. Most results are also extended to the undirected case in which the communication links are bidirectional.     

Hybrid dynamics of stochastic programs

We provide Stochastic Concurrent Constraint Programming (sCCP), a stochastic process algebra based on CCP, with a semantics in terms of hybrid automata. We associate with each sCCP program both a stochastic and a non-deterministic hybrid automaton. Then, we compare such automata with the standard stochastic semantics (given by a Continuous Time Markov Chain) and the one based on ordinary differential equations, obtained by a fluid-flow approximation technique. We discuss in detail two case studies: Repressilator and the Circadian Clock, with particular regard to the robustness exhibited by the different semantic models and to the effect of discreteness in dynamical evolution of such systems.     

On the Length and Area Regularization for Multiphase Level Set Segmentation

In this paper we introduce novel regularization techniques for level set segmentation that target specifically the problem of multiphase segmentation. When the multiphase model is used to obtain a partitioning of the image in more than two regions, a new set of issues arise with respect to the single phase case in terms of regularization strategies. For example, if smoothing or shrinking each contour individually could be a good model in the single phase case, this is not necessarily true in the multiphase scenario.     

A hybrid particle swarm optimization approach for the sequential ordering problem

The sequential ordering problem is a version of the asymmetric travelling salesman problem where precedence constraints on vertices are imposed. A tour is feasible if these constraints are fulfilled, and the objective is to find a feasible solution with minimum cost.     

Analysis of the maximum level policy in a production-distribution system

We consider a production-distribution system, where a facility produces one commodity which is distributed to a set of retailers by a fleet of vehicles. Each retailer defines a maximum level of the inventory. The production policy, the retailers replenishment policies and the transportation policy have to be determined so as to minimize the total system cost. The overall cost is composed by fixed and variable production costs at the facility, inventory costs at both facility and retailers and routing costs. We study two different types of replenishment policies. The well-known order-up to level (OU) policy, where the quantity shipped to each retailer is such that the level of its inventory reaches the maximum level, and the maximum level (ML) policy, where the quantity shipped to each retailer is such that the inventory is not greater than the maximum level. We first show that when the transportation is outsourced, the problem with OU policy is NP-hard, whereas there exists a class of instances where the problem with ML policy can be solved in polynomial time. We also show the worst-case performance of the OU policy with respect to the more flexible ML policy. Then, we focus on the ML policy and the design of a hybrid heuristic. We also present an exact algorithm for the solution of the problem with one vehicle. Results of computational experiments carried out on small size instances show that the heuristic can produce high quality solutions in a very short amount of time. Results obtained on a large set of randomly generated problem instances are also shown, aimed at comparing the two policies.     

Simultaneous Localization and Mapping Using Rao-Blackwellized Particle Filters in Multi Robot Systems

In this paper we investigate the problem of Simultaneous Localization and Mapping (SLAM) for a multi robot system. Relaxing some assumptions that characterize related work we propose an application of Rao-Blackwellized Particle Filters (RBPF) for the purpose of cooperatively estimating SLAM posterior. We consider a realistic setup in which the robots start from unknown initial poses (relative locations are unknown too), and travel in the environment in order to build a shared representation of the latter. The robots are required to exchange a small amount of information only when a rendezvous event occurs and to measure relative poses during the meeting. As a consequence the approach also applies when using an unreliable wireless channel or short range communication technologies (bluetooth, RFId, etc.). Moreover it allows to take into account the uncertainty in relative pose measurements. The proposed technique, which constitutes a distributed solution to the multi robot SLAM problem, is further validated through simulations and experimental tests.