Data-intensive applications in diverse domains, including video streaming, gaming, and health monitoring, increasingly require that mobile devices directly share data with each other. However, developing distributed data sharing functionality introduces low-level, brittle, and hard-to-maintain code into the mobile codebase. To reconcile the goals of programming convenience and performance efficiency, we present a novel middleware framework that enhances the Android platform's component model to support seamless and efficient inter-device data sharing. Our framework provides a familiar programming interface that extends the ubiquitous Android Inter-Component Communication (ICC), thus lowering the learning curve. Unlike middleware platforms based on the RPC paradigm, our programming abstractions require that mobile application developers think through and express explicitly data transmission patterns, thus treating latency as a first-class design concern. Our performance evaluation shows that using our framework incurs little performance overhead, comparable to that of custom-built implementations. By providing reusable programming abstractions that preserve component encapsulation, our framework enables Android devices to efficiently share data at the component level, providing powerful building blocks for the development of emerging distributed mobile applications.
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CyPhyHouse: A programming, simulation, and deployment toolchain for heterogeneous distributed coordination
Programming languages, libraries, and development tools have transformed the application development processes for mobile computing and machine learning. This paper introduces CyPhyHouse-a toolchain that aims to provide similar programming, debugging, and deployment benefits for distributed mobile robotic applications. Users can develop hardware-agnostic, distributed applications using the high-level, event driven Koord programming language, without requiring expertise in controller design or distributed network protocols. The modular, platform-independent middleware of CyPhyHouse implements these functionalities using standard algorithms for path planning (RRT), control (MPC), mutual exclusion, etc. A high-fidelity, scalable, multi-threaded simulator for Koord applications is developed to simulate the same application code for dozens of heterogeneous agents. The same compiled code can also be deployed on heterogeneous mobile platforms. The effectiveness of CyPhyHouse in improving the design cycles is explicitly illustrated in a robotic testbed through development, simulation, and deployment of a distributed task allocation application on in-house ground and aerial vehicles.
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- Award ID(s):
- 1544901
- NSF-PAR ID:
- 10313893
- Date Published:
- Journal Name:
- ICRA, 2020
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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Serverless computing is a promising new event- driven programming model that was designed by cloud vendors to expedite the development and deployment of scalable web services on cloud computing systems. Using the model, developers write applications that consist of simple, independent, stateless functions that the cloud invokes on-demand (i.e. elastically), in response to system-wide events (data arrival, messages, web requests, etc.). In this work, we present STOIC (Serverless TeleOperable HybrId Cloud), an application scheduling and deployment system that extends the serverless model in two ways. First, it uses the model in a distributed setting and schedules application functions across multiple cloud systems. Second, STOIC sup- ports serverless function execution using hardware acceleration (e.g. GPU resources) when available from the underlying cloud system. We overview the design and implementation of STOIC and empirically evaluate it using real-world machine learning applications and multi-tier (e.g. edge-cloud) deployments. We find that STOIC’s combined use of edge and cloud resources is able to outperform using either cloud in isolation for the applications and datasets that we consider.more » « less
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Conference Paper:
- https://doi.org/10.1109/ICRA40945.2020.9196513
