Distributed Watchpoints: Debugging Large Multi-Robot Systems

@article{mderosa-ijrr-2007,
  also = {Distributed Watchpoints: Debugging Large Multi-Robot
     Systems, (icra07)},
  abstract = {Distributed systems frequently exhibit properties of
     interest which span multiple entities. These properties cannot
     easily be detected from any single entity, but can be readily be
     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. This paper
     presents the specification language, describes the distributed
     online mechanism for detecting distributed conditions in a
     running system, and evaluates the performance of our
     implementation.},
  author = {De Rosa, Michael and Goldstein, Seth Copen and Lee, Peter
     and Campbell, Jason D. and Pillai, Padmanabhan and Mowry, Todd
     C.},
  journal = {International Journal of Robotics Research},
  keywords = {Debugging, Distributed Systems},
  title = {Distributed Watchpoints: Debugging Large Multi-Robot
     Systems},
  year = {2007}
}

@inproceedings{derosa-rss06,
  author = {De Rosa, Michael and Goldstein, Seth Copen and Lee, Peter
     and Campbell, Jason D. and Pillai, Padmanabhan},
  booktitle = {Robotics: Science and Systems Workshop on
     Self-Reconfigurable Modular Robots},
  title = {Distributed Watchpoints: Debugging Very Large Ensembles of
     Robots},
  month = {August},
  year = {2006},
  keywords = {Claytronics, Modular Robotics, Debugging, Distributed
     Systems},
  address = {Philadelphia, PA},
  url = {http://www.cs.cmu.edu/~seth/papers/derosa-rss06.pdf},
  abstract = {We describe a debugging tool for modular robotics that
     introduces the concept of distributed watchpoint triggers. This
     technique can initiate debugging actions (system halt, global
     snapshot, logging, etc.) in an ensemble of robots based on
     temporal, physical, and logical conditions distributed over
     multiple robots. Our technique is specifically designed to be
     effective in debugging modular robotic ensembles, where many
     important types of failure conditions can be detected within
     small, physically connected subsets of the total ensemble.}
}

@article{mderosa-ijrr-2007,
  also = {Distributed Watchpoints: Debugging Large Multi-Robot
     Systems, (icra07)},
  abstract = {Distributed systems frequently exhibit properties of
     interest which span multiple entities. These properties cannot
     easily be detected from any single entity, but can be readily be
     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. This paper
     presents the specification language, describes the distributed
     online mechanism for detecting distributed conditions in a
     running system, and evaluates the performance of our
     implementation.},
  author = {De Rosa, Michael and Goldstein, Seth Copen and Lee, Peter
     and Campbell, Jason D. and Pillai, Padmanabhan and Mowry, Todd
     C.},
  journal = {International Journal of Robotics Research},
  keywords = {Debugging, Distributed Systems},
  title = {Distributed Watchpoints: Debugging Large Multi-Robot
     Systems},
  year = {2007}
}

@inproceedings{derosa-rss06,
  author = {De Rosa, Michael and Goldstein, Seth Copen and Lee, Peter
     and Campbell, Jason D. and Pillai, Padmanabhan},
  booktitle = {Robotics: Science and Systems Workshop on
     Self-Reconfigurable Modular Robots},
  title = {Distributed Watchpoints: Debugging Very Large Ensembles of
     Robots},
  month = {August},
  year = {2006},
  keywords = {Claytronics, Modular Robotics, Debugging, Distributed
     Systems},
  address = {Philadelphia, PA},
  url = {http://www.cs.cmu.edu/~seth/papers/derosa-rss06.pdf},
  abstract = {We describe a debugging tool for modular robotics that
     introduces the concept of distributed watchpoint triggers. This
     technique can initiate debugging actions (system halt, global
     snapshot, logging, etc.) in an ensemble of robots based on
     temporal, physical, and logical conditions distributed over
     multiple robots. Our technique is specifically designed to be
     effective in debugging modular robotic ensembles, where many
     important types of failure conditions can be detected within
     small, physically connected subsets of the total ensemble.}
}

@inproceedings{bacon-wpdd91,
  title = {Hardware-Assisted Replay of Multiprocessor Programs},
  url = {http://www.cs.cmu.edu/~seth/papers/bacon-wpdd91.pdf},
  booktitle = {Proceedings of the ACM/ONR Workshop on Parallel and
     Distributed Debugging},
  author = {Bacon, David F. and Goldstein, Seth Copen},
  year = {1991},
  address = {Santa Cruz, CA},
  month = {May},
  keywords = {Debugging,Parallel Computing}
}