Hardware-assisted replay of multiprocessor programs
PADD '91 Proceedings of the 1991 ACM/ONR workshop on Parallel and distributed debugging
Distributed snapshots: determining global states of distributed systems
ACM Transactions on Computer Systems (TOCS)
Eraser: a dynamic data race detector for multithreaded programs
ACM Transactions on Computer Systems (TOCS)
Efficient Distributed Detection of Conjunctions of Local Predicates
IEEE Transactions on Software Engineering
The self-reconfiguring robotic molecule: design and control algorithms
WAFR '98 Proceedings of the third workshop on the algorithmic foundations of robotics on Robotics : the algorithmic perspective: the algorithmic perspective
Global Snapshots for Distributed Debugging
ICCI '92 Proceedings of the Fourth International Conference on Computing and Information: Computing and Information
Reasoning about Robot Actions: A Model Checking Approach
Revised Papers from the International Seminar on Advances in Plan-Based Control of Robotic Agents,
Journal of Computing Sciences in Colleges
A "flight data recorder" for enabling full-system multiprocessor deterministic replay
Proceedings of the 30th annual international symposium on Computer architecture
Programmable self-assembly: constructing global shape using biologically-inspired local interactions and origami mathematics
Detection of global predicates: techniques and their limitations
Distributed Computing
Computer
Implementing declarative overlays
Proceedings of the twentieth ACM symposium on Operating systems principles
Using queries for distributed monitoring and forensics
Proceedings of the 1st ACM SIGOPS/EuroSys European Conference on Computer Systems 2006
On the Fly Testing of Regular Patterns in Distributed Computations
ICPP '94 Proceedings of the 1994 International Conference on Parallel Processing - Volume 02
Trends in Embedded Systems--A Microsoft Perspective
MSE '07 Proceedings of the 2007 IEEE International Conference on Microelectronic Systems Education
Debugging and testing middleware with aspect-based control-flow and causal patterns
Proceedings of the 9th ACM/IFIP/USENIX International Conference on Middleware
A tale of two planners: modular robotic planning with LDP
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Detecting Locally Distributed Predicates
ACM Transactions on Autonomous and Adaptive Systems (TAAS)
Detecting stable locality-aware predicates
Journal of Parallel and Distributed Computing
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Distributed systems frequently exhibit properties of interest which span multiple entities. These properties cannot easily be recognized from any single entity, but can be readily detected by combining the knowledge of multiple entities. Testing for distributed properties is especially important in debugging or verifying software for modular robots. We have developed a technique we call distributed watchpoint triggers which can efficiently recognize distributed conditions. Our watchpoint description language can handle a variety of temporal, spatial and logical properties spanning multiple robots. In this paper we present the specification language, describe the distributed online mechanism for detecting distributed conditions in a running system and evaluate the performance of our implementation.