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.
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.
- Award ID(s):
- Publication Date:
- NSF-PAR ID:
- Journal Name:
- ICRA, 2020
- Sponsoring Org:
- National Science Foundation
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