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This book presents a unified treatment of many different kinds of planning algorithms. The subject lies at the crossroads between robotics, control theory, artificial intelligence, algorithms, and computer graphics. The particular subjects covered include motion planning, discrete planning

Computing devices and applications are now used beyond the desktop, in diverse environments, and this trend toward ubiquitous computing is accelerating. One challenge that remains in this emerging research field is the ability to enhance the behavior of any application by informing

The technologies, architectures, and methodologies traditionally used to develop distributed applications exhibit a variety of limitations and drawbacks when applied to large scale distributed settings (e.g., the Internet). In particular, they fail in providing the desired degree of configurability, scalability, and customizability. To address these issues, researchers are investigating a variety of innovative approaches. The most promising and intriguing ones are those based on the ability of moving code across the nodes of a network, exploiting the notion of mobile code. As an emerging research field, code mobility is generating a growing body of scientific literature and industrial developments. Nevertheless, the field is still characterized by the lack of a sound and comprehensive body of concepts and terms. As a consequence, it is rather difficult to understand, assess, and compare the existing approaches. In turn, this limits our ability to fully exploit them in practice, and to further promote the research work on mobile code. Indeed, a significant symptom of this situation is the lack of a commonly accepted and sound definition of the term "mobile code" itself. This paper presents a conceptual framework for understanding code mobility. The framework is centered around a classification that introduces three dimensions: technologies, design paradigms, and applications. The contribution of the paper is twofold. First, it provides a set of terms and concepts to understand and compare the approaches based on the notion of mobile code. Second, it introduces criteria and guidelines that support the developer in the identification of the classes of applications that can leverage off of mobile code, in the design of these applications, and, finally, in the selection of the most appropriate implementation technologies. The presentation of the classification is intertwined with a review of the state of the art in the field. Finally, the use of the classification is exemplified in a case study.

Abstract: Parallel database machine architectures have evolved from the use of exotic hardware to a software parallel dataflow architecture based on conventional shared-nothing hardware. These new designs provide impressive speedup and scaleup when processing relational database queries. This paper reviews the techniques used by such systems, and surveys current commercial and research systems. 1.

We propose a new design for highly concurrent Internet services, whichwe call the staged event-driven architecture (SEDA). SEDA is intended

The Cooperative File System (CFS) is a new peer-to-peer readonly storage system that provides provable guarantees for the efficiency, robustness, and load-balance of file storage and retrieval. CFS does this with a completely decentralized architecture that can scale to large systems. CFS servers provide a distributed hash table (DHash) for block storage. CFS clients interpret DHash blocks as a file system. DHash distributes and caches blocks at a fine granularity to achieve load balance, uses replication for robustness, and decreases latency with server selection. DHash finds blocks using the Chord location protocol, which operates in time logarithmic in the number of servers. CFS is implemented using the SFS file system toolkit and runs on Linux, OpenBSD, and FreeBSD. Experience on a globally deployed prototype shows that CFS delivers data to clients as fast as FTP. Controlled tests show that CFS is scalable: with 4,096 servers, looking up a block of data involves contacting only seven servers. The tests also demonstrate nearly perfect robustness and unimpaired performance even when as many as half the servers fail.

The World Wide Web has succeeded in large part because its software architecture has been designed to meet the needs of an Internet-scale distributed hypermedia system. The modern Web architecture emphasizes scalability of component interactions, generality of interfaces, independent deployment of components, and intermediary components to reduce interaction latency, enforce security, and encapsulate legacy systems. In this paper, we introduce the Representational State Transfer (REST) architectural style, developed as an abstract model of the Web architecture to guide our redesign and definition of the Hypertext Transfer Protocol and Uniform Resource Identifiers. We describe the software engineering principles guiding REST and the interaction constraints chosen to retain those principles, contrasting them to the constraints of other architectural styles. We then compare the abstract model to the currently deployed Web architecture in order to elicit mismatches between the existing protocols and the applications they are intended to support.

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