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Agilla is a mobile agent middleware that facilitates the rapid deployment of adaptive applications in wireless sensor networks (WSNs). Agilla allows users to create and inject special programs called mobile agents that coordinate through local tuple spaces, and migrate across the WSN performing application-specific tasks. This fluidity of code and state has(More)
This article presents Agilla, a mobile agent middleware designed to support self-adaptive applications in wireless sensor networks. Agilla provides a programming model in which applications consist of evolving communities of agents that share a wireless sensor network. Coordination among the agents and access to physical resources are supported by a tuple(More)
Wireless sensor networks (WSNs) are difficult to program and usually run statically-installed software limiting its flexibility. To address this, we developed Agilla, a new middleware that increases network flexibility while simplifying application development. An Agilla network is deployed with no pre-installed application. Instead, users inject mobile(More)
This paper presents Limone, a new coordination model that facilitates rapid application development over ad hoc networks consisting of logically mobile agents and physically mobile hosts. Limone assumes an agent-centric perspective on coordination by allowing each agent to define its own acquaintance policy and by limiting all agent-initiated interactions(More)
Wireless sensor networks are often difficult to program and unable to adapt to a changing environment. Mobile agent middleware promises to address both concerns by providing higher-level programming abstractions and the ability to inject new agents into a preexisting network. The unique characteristics of wireless sensor networks like resource scarcity and(More)
* Due to the large number of contributors toward this work, email addresses and physical addresses have been omitted. Please contact Kris Verdeyen from NASA-JSC at william.k.verdeyen@nasa.gov with any inquiries. Abstract In December 2013, sixteen teams from around the world gathered at Homestead Speedway near Miami, FL to participate in the DARPA Robotics(More)
This paper discusses the actuator-level control of Valkyrie, a new humanoid robot designed by NASA's Johnson Space Center in collaboration with several external partners. We focus on several topics pertaining to Valkyrie's series elastic actuators including control architecture , controller design, and implementation in hardware. A decentralized approach is(More)
Wireless sensor networks can potentially become larger, more prevalent, and interconnected via the Internet, forming a global sensing infrastructure that serves many users. In order to realize this and maximize its utility, it is necessary to develop a software architecture that enables new components to be integrated, multiple applications to share the(More)
Coordination models promise to become an important software engineering tool in our efforts to facilitate the rapid development of mobile applications that must execute on devices having limited resources and must respond to frequent contextual changes. In this paper, we seek to identify a minimalist coordination model specifically designed for ad hoc(More)
This paper presents MobiQuery, a spatiotemporal query service that allows mobile users to periodically gather information from their surrounding areas through a wireless sensor network. A key advantage of MobiQuery lies in its capability to meet stringent spatiotemporal performance constraints crucial to many applications. These constraints include query(More)