On the analysis of cooperation and antagonism in networks of communicating processes

We propose a new method for the analysis of cooperative and antagonistic properties of communicating finite state processes (FSPs). This algebraic technique is based on a composition operator and on the notion of possibility equivalence among FSPs. We demonstrate its utility by showing that potential blocking, termination, and lockout can be decided in polynomial time for loosely connected networks of tree FSPs. Potential blocking and termination are examples of cooperative properties, while lockout is an antagonistic one. For loosely connected networks of (the more general) acyclic FSPs, the cooperative properties become NP-complete and the antagonistic ones PSPACE-complete. For tightly coupled networks of tree FSPs, we also have NP-completeness for the cooperative properties. For the harder case of FSPs with cycles, we provide a natural extension of the method.     

Survey on Computer Vision for UAVs: Current Developments and Trends

During last decade the scientific research on Unmanned Aerial Vehicless (UAVs) increased spectacularly and led to the design of multiple types of aerial platforms. The major challenge today is the development of autonomously operating aerial agents capable of completing missions independently of human interaction. To this extent, visual sensing techniques have been integrated in the control pipeline of the UAVs in order to enhance their navigation and guidance skills. The aim of this article is to present a comprehensive literature review on vision based applications for UAVs focusing mainly on current developments and trends. These applications are sorted in different categories according to the research topics among various research groups. More specifically vision based position-attitude control, pose estimation and mapping, obstacle detection as well as target tracking are the identified components towards autonomous agents. Aerial platforms could reach greater level of autonomy by integrating all these technologies onboard. Additionally, throughout this article the concept of fusion multiple sensors is highlighted, while an overview on the challenges addressed and future trends in autonomous agent development will be also provided.     

On the analysis of cooperation and antagonism in networks of communicating processes

We propose a new method for the analysis of cooperative and antagonistic properties of communicating finite state processes (FSPs). This algebraic technique is based on a composition operator and on the notion of possibility equivalence among FSPs. We demonstrate its utility by showing that potential blocking, termination, and lockout can be decided in polynomial time for loosely connected networks of tree FSPs. Potential blocking and termination are examples of cooperative properties, while lockout is an antagonistic one. For loosely connected networks of (the more general) acyclic FSPs, the cooperative properties become NP-complete and the antagonistic ones PSPACE-complete. For tightly coupled networks of tree FSPs, we also have NP-completeness for the cooperative properties. For the harder case of FSPs with cycles, we provide a natural extension of the method.A preliminary version of this paper appeared as an extended abstract in theProceedings of the Fourth Annual ACM Symposium on Principles of Distributed Computing, August, 1985, pp. 23–38. P. C. Kanellakis was supported by ONR-DARPA Grant N00014-83-K-0146, NSF Grant DCR-8302391, and by the Office of Army Research under contract DAAG29-84-K-0058. S. A. Smolka was supported by National Science Foundation Grant DCR-8505873.     

Database Query Languages Embedded in the Typed Lambda Calculus

We investigate the expressive power of the typedλ-calculus when expressing computations over finite structures, i.e., databases. We show that the simply typedλ-calculus can express various database query languages such as the relational algebra, fixpoint logic, and the complex object algebra. In our embeddings, inputs and outputs areλ-terms encoding databases, and a program expressing a query is aλ-term which types when applied to an input and reduces to an output. Our embeddings have the additional property that PTIME computable queries are expressible by programs that, when applied to an input, reduce to an output in a PTIME sequence of reduction steps. Under our database input-output conventions, all elementary queries are expressible in the typedλ-calculus and the PTIME queries are expressible in the order-5 (order-4) fragment of the typedλ-calculus (with equality).     

Constraint query algebras

Constraint query languages are natural extensions of relational database query languages. A framework for their declarative specification (constraint calculi) and efficient implementation (low data complexity and secondary storage indexing) was presented in Kanellakis et al., 1995. Constraint query algebras form a procedural language layer between high-level declarative calculi and low-level indexing methods. Just like the relational algebra, this intermediate layer can be very useful for program optimization. In this paper, we study properties of constraint query algebras, which we present through three concrete examples. The dense order constraint algebra illustrates how the appropriate canonical form can simplify expensive operations, such as projection, and facilitate interaction with updates. The monotone two-variable linear constraint algebra illustrates the concept of strongly polynomial operations. Finally, the lazy evaluation of (non)linear constraint algebras illustrates how large numbers of (non)linear constraints could be implemented with only a small amount of costly symbolic processing.Paris C. Kanellakis, one of the authors of this paper, died in a tragic accident shortly after the completion of the first draft. We thank all the reviewers, whose comments were invaluable in helping us complete the work. We also thank Raghu Ramakrishnan for making a last-minute review of the final draft. Research supported by ONR Contracts N00014-94-1-1153 and N00014-91-J-4052, ARPA Order 8225, and by NSF Grant IRI-9509933.     

A data structure for arc insertion and regular path finding

Let be the language defined by some deterministick-state automaton with accepting statesF, and letG be a directed graph withn nodes andm labeled arcs. Thedynamic -path problem is to process efficiently and on-line two kinds of operations: (1) inserting arcs intoG, and (2) given two nodesu andv inG, finding a path fromu tov that is labeled by some word of , or reporting that none exists. We present a data structure that supports insertion and regular path existence queries inO(nk ²) amortized time andO(|F|) worst-case time, respectively. Deletions only (no insertions) can also be accommodated in directed acyclic graphs. Finding an -path between two nodes can be done inO(l+|F|) worst-case time, wherel is the length of the path returned. This is an improvement over theO(m) time required to answer queries in the static version of this problem, for each fixed infinite . We show how this data structure and the techniques used for building it are applicable to the area of knowledge base querying. In an amortized setting, we provide relative improvements ofO(m/n) to the time bounds for answering many one-sided recursive queries and even some two-sided recursive queries, such as the same generation query on acyclic graphs.An extended abstract of this paper was presented at the first annual ACM-SIAM Symposium on Discrete Algorithms, San Francisco, January 1990.Work partially completed while at Brown University. Work at Princeton partially supported by the NSF Center in Discrete Mathematics and Theoretical Computer Science (DIMACS).Work supported in part by NSF grant IRI-8617344, by an Alfred P. Sloan Foundation Fellowship, and by ONR grant N00014-83-K-0146, ARPA Order No. 4786.Work supported in part by an NSF Presidential Young Investigator Award with matching funds from IBM, by NSF research grant DCR-8403613, and by ONR grant N00014-83-K-0146, ARPA Order No. 4786.     

Efficient parallel algorithms can be made robust

Summary The efficient parallel algorithms proposed for many fundamental problems, such as list ranking, integer sorting and computing preorder numberings on trees, are very sensitive to processor failures. The requirement of efficiency (commonly formalized usingParallel-timexProcessors as a cost measure) has led to the design of highly tuned PRAM algorithms which, given the additional constraint of simple processor failures, unfortunately become inefficient or even incorrect. We propose a new notion ofrobustness, that combines efficiency with fault tolerance. For the common case of fail-stop errors, we develop a general and easy to implement technique to make robust many efficient parallel algorithms, e.g., algorithms for all the problems listed above. More specifically,for any dynamic pattern of fail-stop errors on a CRCW PRAMwith at least one surviving processor, our method increases the original algorithm cost by at most a log² multiplicative factor. Our technique is based on a robust solution of the problem ofWrite-All, i.e., usingP processors, write 1's in all locations of anN-sized array. In addition we show that at least a log/log log multiplicative overhead will be incurred for certain patterns of failures by any algorithm that implements robust solutions toWrite-All withP=N. However, by exploiting parallel slackness, we obtain an optimal cost algorithm when Paris C. Kanellakis is a professor of computer science at Brown University. His primary research interests are in the application of logic to computer science, such as high-level query languages for database systems, parallel evaluation of logic programs, and type inference for programming languages. He has published many articles on these subjects and is the author of the chapter Elements of Relational Database Theory in theHandbook of Theoretical Computer Science (Elsevier, 1990). He has also contributed to the theory of distributed computing and to combinatorial optimization. Alex Allister Shvartsman is an engineer at Digital Equipment Corporation. His professional interests include design and development of efficient distributed systems, distributed resource management, and theoretical foundations of fault-tolerant parallel computation. At Digital he architected and managed the development of distributed control systems that automated several of Digital's manufacturing processes. He is currently on an academic leave at Brown University.An extended abstract of a part of this work appears as: Kanellakis and Shvartsman (1989) in the Proceedings of the 8th ACM Symposium on Principles of Distributed Computing, Edmonton 1989This author was supported by NSF grant IRI-8617344, an Alfred P. Sloan fellowship and ONR grant N00014-83-K-0146 ARPA Order No. 4786This author was supported by DEC GEEP Doctoral program and ONR grant N00014-91-J-1613     

Two-dimensional digital filters without overflow oscillations andinstability due to finite word length

New criteria for the absence of finite word-length effects, such as overflow oscillations and instability, in two-dimensional digital filters are presented. The criteria are formulated using the state-space representations and are based on results concerning the 2D Lyapunov equation. Several examples illustrate the theoretical results