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Rendering networks and distributed systems self-managing and self-optimizing has become a major research focus. This task is especially important for systems, such as publish/subscribe systems, that are used in dynamic environments. In these settings, a static configuration usually leads to a largely suboptimal system performance, while manual optimization(More)
Dealing with cyber-physical systems (CPS) puts a strong emphasis on the interaction between computing and non-computing elements. Since the physical world is characterized by being strongly distributed and concurrent, this is also reflected in the computational world making the design of such systems a challenging task. If a number of tasks shall be(More)
In this paper, we present an operating system for mobile robot swarms. Three main issues are addressed here: First, the programming abstraction is introduced that states the model based on which swarm applications are developed. They consist of spatial-temporal actions that are executed concurrently and distributed. This is completely transparent for the(More)
Coordination systems have been gaining popularity since the early 80s with the introduction of the LINDA coordination model. Soon after its introduction researchers and practitioners alike started to realize that coordination is ubiquitous to any distributed systems but unfortunately partially responsible for the inefficiency found in these(More)
In this paper, we present SwarmOS -- a distributed operating system for mobile robot swarms. SwarmOS features transaction-based spatio-temporal programming of mobile robot swarms on a systemic level. We show the programming model and resource management in SwarmOS. Swarm applications consist of concurrent, distributed and context-aware actions. We provide(More)
—We present a runtime system for swarms of mobile robots that manages distributed resources and provides a common programming interface for distributed swarm applications. The programming abstraction follows a systemic view and allows to specify the spatial-temporal behavior of applications. The runtime system analyzes application code, creates a dependency(More)
In this paper, we present an approach to support transaction-based spatial-temporal programming of mobile robot swarms on a systemic level. We introduce a programming model for swarms of mobile robots. Swarm applications consist of concurrent, distributed and context-aware actions. We provide distributed transactions in order to guarantee atomic execution(More)