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— A team of robots can handle failures and dynamic tasks by repeatedly assigning functioning robots to tasks. This paper introduces an algorithm that scales to large numbers of robots and tasks by exploiting both task locality and sparsity. The algorithm mixes both centralized and decentralized approaches at different scales to produce a fast, robust method(More)
Pfam ID Pfam HMM name Known activities GH CW TM Glycoside hydrolase catalytic domains pfam00232 GH_1 β-Glucosidase, β-galactosidase, β-mannosidase, others 34 181 27 pfam00703 GH_2 β-galactosidase, β-mannosidase, others 1 9 33 pfam02836 GH_2_C β-galactosidase, β-mannosidase, others 1 13 40 pfam02837 GH_2_N Sugar-binding domain 1 10 48 pfam00933 GH_3(More)
This paper introduces an approach that scales assignment algorithms to large numbers of robots and tasks. It is especially suitable for dynamic task allocations since both task locality and sparsity can be effectively exploited. We observe that an assignment can be computed through coarsening and partitioning operations on the standard utility matrix via a(More)
We consider the problem of multi-robot task-allocation when robots have to deal with uncertain utility estimates. Typically an allocation is performed to maximize expected utility; we consider a means for measuring the robustness of a given optimal allocation when robots have some measure of the uncertainty (e.g., a probability distribution, or moments of(More)
— The assignment problem arises in multi-robot task-allocation scenarios. This paper introduces an algorithm for solving the assignment problem with several appealing features for online, distributed robotics applications. The method can start with any initial matching and incrementally improve the solution to reach the global optimum, producing valid(More)
Metagenome analysis of the gut symbionts of three different insects was conducted as a means of comparing taxonomic and metabolic diversity of gut microbiomes to diet and life history of the insect hosts. A second goal was the discovery of novel biocatalysts for biorefinery applications. Grasshopper and cutworm gut symbionts were sequenced and compared with(More)
Enzyme dynamics has recently been shown to be crucial for structure-function relationship. Among various structure dynamics analysis platforms, HDX (hydrogen deuterium exchange) mass spectrometry stands out as an efficient and high-throughput way to analyze protein dynamics upon ligand binding. Despite the potential, limited research has employed the HDX(More)
HDX mass spectrometry is a powerful platform to probe protein structure dynamics during ligand binding, protein folding, enzyme catalysis, and such. HDX mass spectrometry analysis derives the protein structure dynamics based on the mass increase of a protein of which the backbone protons exchanged with solvent deuterium. Coupled with enzyme digestion and(More)
—Auction and market-based mechanisms are among the most popular methods for distributed task allocation in multi-robot systems. Most of these mechanisms were designed in a heuristic way and analysis of the quality of the resulting assignment solution is rare. This paper presents a new market-based multi-robot task allocation algorithm that produces optimal(More)