ACM Transactions on Computer Systems (TOCS)
MapReduce: simplified data processing on large clusters
OSDI'04 Proceedings of the 6th conference on Symposium on Opearting Systems Design & Implementation - Volume 6
Dryad: distributed data-parallel programs from sequential building blocks
Proceedings of the 2nd ACM SIGOPS/EuroSys European Conference on Computer Systems 2007
Protoswarm: a language for programming multi-robot systems using the amorphous medium abstraction
Proceedings of the 7th international joint conference on Autonomous agents and multiagent systems - Volume 3
CIEL: a universal execution engine for distributed data-flow computing
Proceedings of the 8th USENIX conference on Networked systems design and implementation
Wide-angle micro sensors for vision on a tight budget
CVPR '11 Proceedings of the 2011 IEEE Conference on Computer Vision and Pattern Recognition
Flapping flight for biomimetic robotic insects: part I-system modeling
IEEE Transactions on Robotics
The First Takeoff of a Biologically Inspired At-Scale Robotic Insect
IEEE Transactions on Robotics
Simbeeotic: a simulator and testbed for micro-aerial vehicle swarm experiments
Proceedings of the 11th international conference on Information Processing in Sensor Networks
TriopusNet: automating wireless sensor network deployment and replacement in pipeline monitoring
Proceedings of the 11th international conference on Information Processing in Sensor Networks
Simbeeotic: a simulation-emulation platform for large scale micro-aerial swarms
Proceedings of the 11th international conference on Information Processing in Sensor Networks
Proceedings of the 10th international conference on Mobile systems, applications, and services
QuarkOS: pushing the operating limits of micro-powered sensors
HotOS'13 Proceedings of the 14th USENIX conference on Hot Topics in Operating Systems
Towards spatial macroprogramming for sensing and actuating robot swarms
Proceedings of the 11th ACM Conference on Embedded Networked Sensor Systems
A biomimetic neuronal network-based controller for guided helicopter flight
Living Machines'13 Proceedings of the Second international conference on Biomimetic and Biohybrid Systems
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Research in micro-aerial vehicle (MAV) construction, control, and high-density power sources is enabling swarms of MAVs as a new class of mobile sensing systems. For efficient operation, such systems must adapt to dynamic environments, cope with uncertainty in sensing and control, and operate with limited resources. We propose a novel system architecture based on a hive-drone model that simplifies the functionality of an individual MAV to a sequence of sensing and actuation commands with no in-field communication. This decision simplifies the hardware and software complexity of individual MAVs and moves the complexity of coordination entirely to a central hive computer. We present Karma, a system for programming and managing MAV swarms. Through simulation and testbed experiments we demonstrate how applications in Karma can run on limited resources, are robust to individual MAV failure, and adapt to changes in the environment.