Automated Multi-Agent Search Using Centroidal Voronoi Configuration

This paper addresses the problem of automated multiagent search in an unknown environment. Autonomous agents equipped with sensors carry out a search operation in a search space, where the uncertainty, or lack of information about the environment, is known a priori as an uncertainty density distribution function. The agents are deployed in the search space to maximize single step search effectiveness. The centroidal Voronoi configuration, which achieves a locally optimal deployment, forms the basis for the proposed sequential deploy and search strategy. It is shown that with the proposed control law the agent trajectories converge in a globally asymptotic manner to the centroidal Voronoi configuration. Simulation experiments are provided to validate the strategy. Note to Practitioners-In this paper, searching an unknown region to gather information about it is modeled as a problem of using search as a means of reducing information uncertainty about the region. Moreover, multiple automated searchers or agents are used to carry out this operation optimally. This problem has many applications in search and surveillance operations using several autonomous UAVs or mobile robots. The concept of agents converging to the centroid of their Voronoi cells, weighted with the uncertainty density, is used to design a search strategy named as sequential deploy and search. Finally, the performance of the strategy is validated using simulations.

Ethanol-dependent oxygen consumption and acetaldehyde formation during vanadyl oxidation by H2O2

Sequential addition of vanadyl sulfate to a phosphate-buffered solution of H2O2 released oxygen only after the second batch of vanadyl. Ethanol added to such reaction mixtures progressively decreased oxygen release and increased oxygen consumption during oxidation of vanadyl by H2O2. Inclusion of ethanol after any of the three batches of vanadyl resulted in varying amounts of oxygen consumption, a property also shared by other alcohols (methanol, propanol and octanol). On increasing the concentration of ethanol, vanadyl sulfate or H2O2, both oxygen consumption and acetaldehyde formation increased progressively. Formation of acetaldehyde decreased with increase in the ratio of vanadyl:H2O2 above 2:1 and was undetectable with ethanol at 0.1 mM. The reaction mixture which was acidic in the absence of phosphate buffer (pH 7.0), released oxygen immediately after the first addition of vanadyl and also in presence of ethanol soon after initial rapid consumption of oxygen, with no accompanying acetaldehyde formation. The results underscore the importance of some vanadium complexes formed during vanadyl oxidation in the accompanying oxygen-transfer reactions.

WOMM: A Weak Operational Memory Model

Memory models of shared memory concurrent programs define the values a read of a shared memory location is allowed to see. Such memory models are typically weaker than the intuitive sequential consistency semantics to allow efficient execution. In this paper, we present WOMM (abbreviation for Weak Operational Memory Model) that formally unifies two sources of weak behavior in hardware memory models: reordering of instructions and weakly consistent memory. We show that a large number of optimizations are allowed by WOMM. We also show that WOMM is weaker than a number of hardware memory models. Consequently, if a program behaves correctly under WOMM, it will be correct with respect to those hardware memory models. Hence, WOMM can be used as a formally specified abstraction of the hardware memory models. Moreover; unlike most weak memory models, WOMM is described using operational semantics, making it easy to integrate into a model checker for concurrent programs. We further show that WOMM has an important property - it has sequential consistency semantics for datarace-free programs.