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Institute
In this paper, we present an approach to support
transaction-based spatial-temporal programming of mobile robot
swarms on a systemic level. We introduce a programming model
for swarms of mobile robots. Swarm applications consist of
concurrent, distributed and context-aware actions. We provide
distributed transactions in order to guarantee atomic execution of
a set of dependent actions. We distinguish between schedulability
and executability of a set of actions. In order to guarantee exe-
cutability of a distributed transaction of spatial-temporal actions,
we present the concept of path alternatives and a time-based two-
phase commit protocol in order to assure consistency. We show
the feasibility of our approach by a proof-of-concept.
Nodes within sensor networks often have tight bound goals for the lifetime while running from a non-renewable energy source. Variations within the hardware or induced by the software complicate the prediction of the energy consumption. Additionally, batteries are vulnerable to temperature and non-linear effects. To reach certain lifetime goals under these influences without sacrificing energy due to pessimistic estimations, online energy management is necessary. In this paper, we present policies to control the behavior of applications and devices using energy budgets. First experiments yield promising results, with nodes reaching their lifetime goals while maintaining a high application quality.