No abstract

The microprocessor industry is currently struggling with higher development costs and longer design times that arise from exceedingly complex processors that are pushing the limits of instructionlevel parallelism. Meanwhile, such designs are especially ill suited for important commercial applications, such as on-line transaction processing (OLTP), which suffer from large memory stall times and exhibit little instruction-level parallelism. Given that commercial applications constitute by far the most important market for high-performance servers, the above trends emphasize the need to consider alternative processor designs that specifically target such workloads. The abundance of explicit thread-level parallelism in commercial workloads, along with advances in semiconductor integration density, identify chip multiprocessing (CMP) as potentially the most promising approach for designing processors targeted at commercial servers. This paper describes the Piranha system, a research prototype being developed at Compaq that aggressively exploits chip multiprocessing by integrating eight simple Alpha processor cores along with a two-level cache hierarchy onto a single chip. Piranha also integrates further on-chip functionality to allow for scalable multiprocessor configurations to be built in a glueless and modular fashion. The use of simple processor cores combined with an industry-standard ASIC design methodology allow us to complete our prototype within a short time-frame, with a team size and investment that are an order of magnitude smaller than that of a commercial microprocessor. Our detailed simulation results show that while each Piranha processor core is substantially slower than an aggressive next-generation processor, the integration of eight cores onto a single chip allows Piranha to outperform next-generation processors by up to 2.9 times (on a per chip basis) on important workloads such as OLTP. This performance advantage can approach a factor of five by using full-custom instead of ASIC logic. In addition to exploiting chip multiprocessing, the Piranha prototype incorporates several other unique design choices including a shared second-level cache with no inclusion, a highly optimized cache coherence protocol, and a novel I/O architecture.

In this paper we develop methods for maximizing the throughput of a mobility-on-demand urban transportation system. We consider a finite group of shared vehicles, located at a set of stations. Users arrive at the stations, pick-up vehicles, and drive (or are driven) to their destination station where they drop-off the vehicle. When some origins and destinations are more popular than others, the system will inevitably become out of balance: Vehicles will build up at some stations, and become depleted at others. We propose a robotic solution to this rebalancing problem that involves empty robotic vehicles autonomously driving between stations. Specifically, we develop a rebalancing policy that lets every station reach an equilibrium in which there are excess vehicles and no waiting customers and that minimizes the number of robotic vehicles performing rebalancing trips. To do this, we utilize a fluid model for the customers and vehicles in the system. We then show that the optimal rebalancing policy can be found as the solution to a linear program. We use this solution to develop a real-time rebalancing policy which can operate in highly variable environments. We verify policy performance in a simulated mobility-on-demand environment and in hardware experiments.

In this paper we present a method for automatically generating optimal robot paths satisfying high level mission specifications. The motion of the robot in the environment is modeled as a weighted transition system. The mission is specified by an arbitrary linear temporal logic (LTL) formula over propositions satisfied at the regions of a partitioned environment. The mission specification contains an optimizing proposition which must be repeatedly satisfied. The cost function that we seek to minimize is the maximum time between satisfying instances of the optimizing proposition. For every environment model, and for every formula, our method computes a robot path which minimizes the cost function.The problem is motivated by applications in robotic monitoring and data gathering. In this setting, the optimizing proposition is satisfied at all locations where data can be uploaded, and the LTL formula specifies a complex data collection mission. Our method utilizes Büchi automata to produce an automaton (which can be thought of as a graph) whose runs satisfy the temporal logic specification. We then present a graph algorithm which computes a run corresponding to the optimal robot path. We present an implementation for a robot performing data collection in a road network platform.

Abstract-We present controllers that enable mobile robots to persistently monitor or sweep a changing environment. The changing environment is modeled as a field which grows in locations that are not within range of a robot, and decreases in locations that are within range of a robot. We assume that the robots travel on given closed paths. The speed of each robot along its path is controlled to prevent the field from growing unbounded at any location. We consider the space of speed controllers that can be parametrized by a finite set of basis functions. For a single robot, we develop a linear program that is guaranteed to compute a speed controller in this space to keep the field bounded, if such a controller exists. Another linear program is then derived whose solution is the speed controller that minimizes the maximum field value over the environment. We extend our linear program formulation to develop a multi-robot controller that keeps the field bounded. The multi-robot controller has the unique feature that it does not require communication among the robots. Simulation studies demonstrate the robustness of the controllers to modeling errors, and to stochasticity in the environment.