Autonomous agents deployed or moving on land for the purpose of carrying out coordinated tasks need to have good knowledge of their absolute or relative position. For large formations, it is often impractical to equip each agent with an absolute sensor such as GPS, whereas relative range sensors measuring interagent distances are cheap and commonly available. In this setting, this paper considers the problem of autonomous distributed estimation of the position of each agent in a networked formation using noisy measurements of interagent distances. The underlying geometrical problem has been studied quite extensively in various fields, ranging from molecular biology to robotics, and it is known to lead to a hard nonconvex optimization problem. Centralized algorithms do exist that work reasonably well in finding local or global minimizers for this problem (e.g., semidefinite programming relaxations). Here, we explore a fully decentralized approach for localization from range measurements, and we propose a computational scheme based on a distributed gradient algorithm with Barzilai-Borwein stepsizes. The advantage of this distributed approach is that each agent may autonomously compute its position estimate, exchanging information only with its neighbors, without need of communicating with a central station and without needing complete knowledge of the network structure.

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This paper considers the noisy range-only network localization problem in which measurements of relative distances between agents are used to estimate their positions in networked systems. When distance information is noisy, existence and uniqueness of location solution are usually not guaranteed. It is well known that in presence of distance measurement noise, a node may have discontinuous deformations (e.g., flip ambiguities and discontinuous flex ambiguities). Thus, there are two issues that we consider in the noisy localization problem. The first one is the location estimate error propagated from distance measurement noise. We compare two kinds of analytical location error computation methods by assuming that each distance is corrupted with independent Gaussian random noise. These analytical results help us to understand effects of the measurement noises on the position estimation accuracy. After that, based on multidimensional scaling theory, we propose a distributed localization algorithm to solve the noisy range network localization problem. Our approach is robust to distance measurement noise, and it can be implemented in any random case without considering the network setup constraints. Moreover, a refined version of distributed noisy range localization method is developed, which achieves a good tradeoff between computational effort and global convergence especially in largescale networks.Index Terms-Network localization, noisy range measurements, distributed algorithms, multidimensional scaling.

Because of the high volume and unpredictable arrival rate, stream processing systems may not always be able to keep up with the input data streams-resulting in buffer overflow and uncontrolled loss of data. Load shedding, the prevalent strategy for solving this overflow problem, has so far only been considered for relational stream processing, but not for XML. Shedding applied to XML stream processing brings new opportunities and challenges due to complex nested nature of XML structures. In this paper, we tackle this unsolved XML shedding problem using a three-pronged approach. First, we develop an XQuery preference model that enables users to specify the relative importance of preserving different subpatterns in the XML result structure. This transforms shedding into the problem of rewriting the user query into shed queries that return approximate query answers with utility as measured by the given user preference model. Second, we develop a cost model to compare the performance of alternate shed queries. Third, we develop two shedding algorithms, OptShed and FastShed. OptShed guarantees to find an optimal solution however at the cost of exponential complexity. FastShed, as confirmed by our experiments, achieves a close-to-optimal result in a wide range of test cases. Finally we describe the in-automaton shedding mechanism for XQuery stream engines. The experiments show that our proposed utility-driven shedding solutions consistently achieve higher utility results compared to the existing relational shedding techniques.