Michael De Rosa, Seth Copen Goldstein, Peter Lee, Jason D. Campbell, and Padmanabhan Pillai
@inproceedings{derosa-rss06,
author = {De~Rosa, Michael and Goldstein, Seth Copen and Lee, Peter
and Campbell, Jason D. and Pillai, Padmanabhan},
booktitle = {Robotics: Science and Systems Workshop on
Self-Reconfigurable Modular Robots},
venue = {Robotics: Science and Systems Workshop on
Self-Reconfigurable Modular Robots},
title = {Distributed Watchpoints: Debugging Very Large Ensembles of
Robots},
month = {August},
year = {2006},
keywords = {Debugging, Distributed Systems},
address = {Philadelphia, PA},
talk = {http://www.cs.cmu.edu/~seth/papers/derosa-talk-rss06.pdf},
url = {http://www.cs.cmu.edu/~claytronics/papers/derosa-rss06.pdf},
abstract = {We describe a debugging tool for modular robotics that
introduces the concept of distributed watchpoint triggers. This
technique can initiate debugging actions (system halt, global
snapshot, logging, etc.) in an ensemble of robots based on
temporal, physical, and logical conditions distributed over
multiple robots. Our technique is specifically designed to be
effective in debugging modular robotic ensembles, where many
important types of failure conditions can be detected within
small, physically connected subsets of the total ensemble.},
}
Distributed Systems |
|
A Language for Large Ensembles of Independently Executing Nodes | pdf bib |
|
Michael P. Ashley-Rollman, Peter Lee, Seth Copen Goldstein, Padmanabhan Pillai, and Jason D. Campbell.
In Proceedings of the International Conference on Logic Programming (ICLP '09),
July, 2009.
|
| @inproceedings{ashley-rollman-iclp09,
author = {Ashley-Rollman, Michael P. and Lee, Peter and Goldstein,
Seth Copen and Pillai, Padmanabhan and Campbell, Jason D.},
title = {A Language for Large Ensembles of Independently Executing
Nodes},
year = {2009},
month = {July},
keywords = {Distributed Systems, Meld, Programming Languages},
url = {http://www.cs.cmu.edu/~claytronics/papers/ashley-rollman-iclp09.pdf},
abstract = {We address how to write programs for distributed
computing systems in which the network topology can change
dynamically. Examples of such systems, which we call {\em
ensembles}, include programmable sensor networks (where the
network topology can change due to failures in the nodes or
links) and modular robotics systems (whose physical configuration
can be rearranged under program control). We extend Meld, a logic
programming language that allows an ensemble to be viewed as a
single computing system. In addition to proving some key
properties of the language, we have also implemented a complete
compiler for Meld. It generates code for TinyOS and for a
Claytronics simulator. We have successfully written correct,
efficient, and complex programs for ensembles containing over one
million nodes.},
booktitle = {Proceedings of the International Conference on Logic
Programming (ICLP '09)},
}
|
|
Distributed Localization of Modular Robot Ensembles | pdf bib |
|
Stanislav Funiak, Padmanabhan Pillai, Michael P. Ashley-Rollman, Jason D. Campbell, and Seth Copen Goldstein.
In Proceedings of Robotics: Science and Systems,
June, 2008.
|
| |
|
Distributed Watchpoints: Debugging Large Modular Robotic Systems | pdf bib |
|
Michael De Rosa, Seth Copen Goldstein, Peter Lee, Jason D. Campbell, and Padmanabhan Pillai.
International Journal of Robotics Research,
27(3),March, 2008.
Also appeared as Distributed Watchpoints: Debugging Large Multi-Robot Systems, (icra07).
|
| @article{mderosa-ijrr-2008,
author = {De~Rosa, Michael and Goldstein, Seth Copen and Lee, Peter
and Campbell, Jason D. and Pillai, Padmanabhan},
journal = {International Journal of Robotics Research},
keywords = {Debugging, Distributed Systems},
month = {March},
note = {Special Issue on Modular Robotics},
url = {http://www.cs.cmu.edu/~claytronics/papers/mderosa-ijrr-2008.pdf},
venue = {International Journal of Robotics Research},
number = {3},
title = {Distributed Watchpoints: Debugging Large Modular Robotic
Systems},
abstract = {Distributed systems frequently exhibit properties of
interest which span multiple entities. These properties cannot
easily be detected from any single entity, but can be readily be
detected by combining the knowledge of multiple entities. Testing
for distributed properties is especially important in debugging
or verifying software for modular robots. We have developed a
technique we call distributed watchpoint triggers which can
efficiently recognize distributed conditions. Our watchpoint
description language can handle a variety of temporal, spatial,
and logical properties spanning multiple robots. This paper
presents the specification language, describes the distributed
online mechanism for detecting distributed conditions in a
running system, and evaluates the performance of our
implementation.},
volume = {27},
also = {Distributed Watchpoints: Debugging Large Multi-Robot
Systems, (icra07)},
year = {2008},
}
|
|
Integrated Debugging of Large Modular Robot Ensembles | pdf bib |
|
Benjamin D. Rister, Jason D. Campbell, Padmanabhan Pillai, and Todd C. Mowry.
In Proceedings of the IEEE International Conference on Robotics and Automation ICRA '07,
April, 2007.
|
| @inproceedings{rister-icra07,
author = {Rister, Benjamin D. and Campbell, Jason D. and Pillai,
Padmanabhan and Mowry, Todd C.},
title = {Integrated Debugging of Large Modular Robot Ensembles},
booktitle = {Proceedings of the IEEE International Conference on
Robotics and Automation {ICRA '07}},
venue = {IEEE International Conference on Robotics and Automation
(ICRA)},
keywords = {Debugging, Distributed Systems},
month = {April},
abstract = {Creatively misquoting Thomas Hobbes, the process of
software debugging is nasty, brutish, and all too long. This
holds all the more true in robotics, which frequently involves
concurrency, extensive nondeterminisism, event-driven components,
complex state machines, and difficult platform limitations.
Inspired by the challenges we have encountered while attempting
to debug software on simulated ensembles of tens of thousands of
modular robots, we have developed a new debugging tool
particularly suited to the characteristics of highly parallel,
event- and state-driven robotics software. Our state capture and
introspection system also provides data that may be used in
higher-level debugging tools as well. We report on the design of
this promising debugging system, and on our experiences with it
so far.},
year = {2007},
url = {http://www.cs.cmu.edu/~claytronics/papers/rister-icra07.pdf},
}
|
|
Distributed Watchpoints: Debugging Very Large Ensembles of Robots | pdf bib talk |
|
Michael De Rosa, Seth Copen Goldstein, Peter Lee, Jason D. Campbell, and Padmanabhan Pillai.
In Robotics: Science and Systems Workshop on Self-Reconfigurable Modular Robots,
August, 2006.
|
| |
Debugging |
|
Distributed Watchpoints: Debugging Large Modular Robotic Systems | pdf bib |
|
Michael De Rosa, Seth Copen Goldstein, Peter Lee, Jason D. Campbell, and Padmanabhan Pillai.
International Journal of Robotics Research,
27(3),March, 2008.
Also appeared as Distributed Watchpoints: Debugging Large Multi-Robot Systems, (icra07).
|
| @article{mderosa-ijrr-2008,
author = {De~Rosa, Michael and Goldstein, Seth Copen and Lee, Peter
and Campbell, Jason D. and Pillai, Padmanabhan},
journal = {International Journal of Robotics Research},
keywords = {Debugging, Distributed Systems},
month = {March},
note = {Special Issue on Modular Robotics},
url = {http://www.cs.cmu.edu/~claytronics/papers/mderosa-ijrr-2008.pdf},
venue = {International Journal of Robotics Research},
number = {3},
title = {Distributed Watchpoints: Debugging Large Modular Robotic
Systems},
abstract = {Distributed systems frequently exhibit properties of
interest which span multiple entities. These properties cannot
easily be detected from any single entity, but can be readily be
detected by combining the knowledge of multiple entities. Testing
for distributed properties is especially important in debugging
or verifying software for modular robots. We have developed a
technique we call distributed watchpoint triggers which can
efficiently recognize distributed conditions. Our watchpoint
description language can handle a variety of temporal, spatial,
and logical properties spanning multiple robots. This paper
presents the specification language, describes the distributed
online mechanism for detecting distributed conditions in a
running system, and evaluates the performance of our
implementation.},
volume = {27},
also = {Distributed Watchpoints: Debugging Large Multi-Robot
Systems, (icra07)},
year = {2008},
}
|
|
Distributed Watchpoints: Debugging Large Multi-Robot Systems | pdf bib |
|
Michael De Rosa, Seth Copen Goldstein, Peter Lee, Jason D. Campbell, Padmanabhan Pillai, and Todd C. Mowry.
In Proceedings of the IEEE International Conference on Robotics and Automation ICRA '07,
April, 2007.
|
| @inproceedings{derosa-icra07,
abstract = {Tightly-coupled multi-agent systems such as modular
robots frequently exhibit properties of interest that span
multiple modules. These properties cannot easily be detected from
any single module, though they might readily be detected by
combining the knowledge of multiple modules. Testing for
distributed conditions is especially important in debugging or
verifying the correctness of software for modular robots. We have
developed a technique we call distributed watchpoint triggers
which can efficiently recognize such distributed conditions. Our
watchpoint description language can handle a variety of temporal,
spatial, and logical properties spanning multiple robots. This
paper presents that language, describes our fully-distributed,
online mechanism for detecting distributed conditions in a
running system, and evaluates the performance of our
implementation. We found that the performance of the system is
highly dependent on the program being debugged, scales linearly
with ensemble size, and is small enough to make the system
practical in all but the worst case scenarios.},
author = {De~Rosa, Michael and Goldstein, Seth Copen and Lee, Peter
and Campbell, Jason D. and Pillai, Padmanabhan and Mowry, Todd
C.},
booktitle = {Proceedings of the IEEE International Conference on
Robotics and Automation {ICRA '07}},
venue = {IEEE International Conference on Robotics and Automation
(ICRA)},
title = {Distributed Watchpoints: Debugging Large Multi-Robot
Systems},
year = {2007},
month = {April},
keywords = {Debugging, Distributed Algorithms},
url = {http://www.cs.cmu.edu/~claytronics/papers/derosa-icra07.pdf},
}
|
|
Integrated Debugging of Large Modular Robot Ensembles | pdf bib |
|
Benjamin D. Rister, Jason D. Campbell, Padmanabhan Pillai, and Todd C. Mowry.
In Proceedings of the IEEE International Conference on Robotics and Automation ICRA '07,
April, 2007.
|
| @inproceedings{rister-icra07,
author = {Rister, Benjamin D. and Campbell, Jason D. and Pillai,
Padmanabhan and Mowry, Todd C.},
title = {Integrated Debugging of Large Modular Robot Ensembles},
booktitle = {Proceedings of the IEEE International Conference on
Robotics and Automation {ICRA '07}},
venue = {IEEE International Conference on Robotics and Automation
(ICRA)},
keywords = {Debugging, Distributed Systems},
month = {April},
abstract = {Creatively misquoting Thomas Hobbes, the process of
software debugging is nasty, brutish, and all too long. This
holds all the more true in robotics, which frequently involves
concurrency, extensive nondeterminisism, event-driven components,
complex state machines, and difficult platform limitations.
Inspired by the challenges we have encountered while attempting
to debug software on simulated ensembles of tens of thousands of
modular robots, we have developed a new debugging tool
particularly suited to the characteristics of highly parallel,
event- and state-driven robotics software. Our state capture and
introspection system also provides data that may be used in
higher-level debugging tools as well. We report on the design of
this promising debugging system, and on our experiences with it
so far.},
year = {2007},
url = {http://www.cs.cmu.edu/~claytronics/papers/rister-icra07.pdf},
}
|
|
Distributed Watchpoints: Debugging Very Large Ensembles of Robots | pdf bib talk |
|
Michael De Rosa, Seth Copen Goldstein, Peter Lee, Jason D. Campbell, and Padmanabhan Pillai.
In Robotics: Science and Systems Workshop on Self-Reconfigurable Modular Robots,
August, 2006.
|
| |